Optimal Reference Shaping for Dynamical Systems: Theory and Applications
Optimal Reference Shaping for Dynamical Systems: Theory and Applications provides a rigorous yet
accessible presentation of the theory and numerical techniques used to shape control system inputs
for achieving precise control when modeling uncertainties exist. It includes up-to-date techniques for the
design of command-shaped profiles for precise, robust, and rapid point-to-point control of
underdamped systems.
After developing models for applications in which the dynamics are dominated by lightly damped modes, the book
describes the time-delay (input shaper) design techniques and reviews calculus of variations. It then
focuses on four control problems: time-optimal, fuel/time-optimal, fuel limited time-optimal, and jerk liimited
time-optimal control. The following two chapters deal with the minimax formulation for the design of robust
time-delay filters and the design of input-constrained control profiles for point-to-point
maneuvers of systems subject to friction. The final chapter presents numerical techniques for
solving the problem of design of input shapers.
Features:
- Presents the frequency domain approach for designing input-shaper/time-delay filter
- Illustrates the design of optimal command shapers through gradient-based and convex programming-based approaches
- Covers the minimax design of robust command shapers and state feedback controllers
- Discusses the control of vibratory systems that are subject to Coulomb friction
- Includes many examples problems that represent actual engineering systems
Optimal Reference Shaping for Dynamical Systems: Theory and Applications