Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
Reference Shaping of Periodic Trajectories for Systems Having Constraints
Toshiharu SUGIEHiromi SUZUKI
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2004 Volume 17 Issue 8 Pages 313-320

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Abstract

This paper is concerned with off-line reference shaping for closed loop systems with input and state constraints. First, we propose a method to generate reference signals which achieve better tracking property for given periodic trajectories subject to the system constraints. The method consists of an initial transition part and a steady-state periodic part. This switching technique separates a tracking problem for an infinite period into two finite ones. Second, its effectiveness is demonstrated by simulations and experiments.

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