抄録
This paper proposes a method to prevent overshoot and undershoot (OS/US) problems for final-state control (FSC) and updating final-state control (UFSC). The FSC is an optimal feedforward control technique to drive a dynamic system to a specified state in a specific time period by an external input. The UFSC is a version of FSC that is modified to deal with a varying final state by updating the FSC control input at each sample. However, both FSC and UFSC algorithms do not guarantee that no overshoot or undershoot occurs in the transient state between the initial state and the final state. This paper proposes an OS/US prevention technique via tuning the FSC or UFSC activated time. The technique is developed by adding a constraint that all the FSC or UFSC control input should be in the same direction. In this paper, the effectiveness of the algorithm is verified by simulations for a plural-cart connection problem.
