Reference Shaping of Periodic Trajectories for Systems Having Constraints

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.