The application of command shaping to the tracking problem

Michael Charles Reynolds, Purdue University

Abstract

This work presents a novel technique for the solution of an optimal input for trajectory tracking. Many researchers have documented the performance advantages of command shaping, which focuses on the design of an optimal input. Nearly all research in command shaping has been centered on the point-to-point motion control problem. But tracking problems are also an important application of control theory. The proposed optimal tracking technique extends the point-to-point motion control problem to the solution of the tracking problem. Thus two very different problems are brought into one solution scheme. The technique uses tolerances on trajectory following to meet constraints and minimize either maneuver time or input energy. A major advantage of the technique is that hard physical constraints such as acceleration or allowable tracking error can be directly constrained. Previous methods to perform such a task involved using various weightings that lack physical meaning. The optimal tracking technique allows for fast and efficient exploration of the solution space for motion control. Practical issues are addressed such as how to use feedforward and feedback inputs concurrently and how to achieve robustness to parameter error. Experimental work confirms the validity of the approach and further highlights how to implement real control schemes.

Degree

Ph.D.

Advisors

Meckl, Purdue University.

Subject Area

Mechanical engineering

COinS