Reference Spreading: Tracking Performance for Impact Trajectories of a 1DoF Setup

Mark Rijnen (Corresponding author), Alessandro Saccon, Henk Nijmeijer

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In this brief, trajectory tracking control for nonperiodic motions with impacts is analyzed by means of physical experiments. This brief aims at demonstrating the effectiveness and robustness of the control method called reference spreading (RS) on a physical setup. An actuated rebounding pendulum, a one-degree-of-freedom system specifically designed for performing trajectories with partially elastic impacts, acts as a test bench. RS control is compared to both classic proportional derivative (PD) feedback control and distance function-based control, showing superior performance. Evidence of RS's robustness to delayed impact detection, deteriorated velocity estimation accuracy, and model inaccuracies is moreover reported.

Original languageEnglish
Article number8660522
Pages (from-to)1124-1131
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Issue number3
Publication statusPublished - 1 May 2020


  • Impact
  • reference spreading (RS)
  • restitution
  • trajectory tracking

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