Abstract
| Original language | English |
|---|---|
| Title of host publication | 54th IEEE Conference on Decision and Control (CDC 2015), December 15-18, 2015. Osaka, Japan |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 2561-2566 |
| Number of pages | 6 |
| ISBN (Electronic) | 978-1-4799-7885-4 |
| ISBN (Print) | 978-1-4799-7884-7 |
| DOIs | |
| Publication status | Published - 2015 |
| Event | 54th IEEE Conference on Decision and Control (CDC 2015) - "Osaka International Convention Center", Osaka, Japan Duration: 15 Dec 2015 → 18 Dec 2015 Conference number: 54 http://www.cdc2015.ctrl.titech.ac.jp/ |
Conference
| Conference | 54th IEEE Conference on Decision and Control (CDC 2015) |
|---|---|
| Abbreviated title | CDC 2015 |
| Country | Japan |
| City | Osaka |
| Period | 15/12/15 → 18/12/15 |
| Internet address |
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On optimal trajectory tracking for mechanical systems with unilateral constraints. / Rijnen, Mark; Saccon, Alessandro; Nijmeijer, Henk.
54th IEEE Conference on Decision and Control (CDC 2015), December 15-18, 2015. Osaka, Japan. Piscataway : Institute of Electrical and Electronics Engineers, 2015. p. 2561-2566 7402602.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review
TY - GEN
T1 - On optimal trajectory tracking for mechanical systems with unilateral constraints
AU - Rijnen, Mark
AU - Saccon, Alessandro
AU - Nijmeijer, Henk
PY - 2015
Y1 - 2015
N2 - This paper addresses the optimal trajectory tracking problem for hybrid systems with discontinuous state trajectories. We consider state-triggered jumps in the state evolution. The tracking of a given reference trajectory is complicated by the fact that the time instants at which the closed-loop dynamics actually jumps differ from those at which the reference trajectory jumps. A recently introduced hybrid feedback tracking controller is used to cope with these differences. A method to design the corresponding time-varying feedback gains such that they minimize a cost criterion in a linear quadratic regulator (LQR) like idea is described in this work. The effectiveness of the proposed control law is investigated numerically by comparison with classic proportional feedback and constant gain hybrid feedback control for a mechanical system with a unilateral position constraint, namely a controlled mass interacting with a rigid obstacle.
AB - This paper addresses the optimal trajectory tracking problem for hybrid systems with discontinuous state trajectories. We consider state-triggered jumps in the state evolution. The tracking of a given reference trajectory is complicated by the fact that the time instants at which the closed-loop dynamics actually jumps differ from those at which the reference trajectory jumps. A recently introduced hybrid feedback tracking controller is used to cope with these differences. A method to design the corresponding time-varying feedback gains such that they minimize a cost criterion in a linear quadratic regulator (LQR) like idea is described in this work. The effectiveness of the proposed control law is investigated numerically by comparison with classic proportional feedback and constant gain hybrid feedback control for a mechanical system with a unilateral position constraint, namely a controlled mass interacting with a rigid obstacle.
U2 - 10.1109/CDC.2015.7402602
DO - 10.1109/CDC.2015.7402602
M3 - Conference contribution
SN - 978-1-4799-7884-7
SP - 2561
EP - 2566
BT - 54th IEEE Conference on Decision and Control (CDC 2015), December 15-18, 2015. Osaka, Japan
PB - Institute of Electrical and Electronics Engineers
CY - Piscataway
ER -