Receding horizon based trajectory planning and two-degree-of-freedom tracking control for fast sampling constrained systems

Alexander Dötlinger, Jean François Stumper, Ralph Kennel

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

This paper presents a trajectory planning method inspired by receding horizon based control - for example model predictive control. To plan a trajectory that is perfectly trackable by an underlying controller, a cost functional with input and state constraints is minimized. The proposed planning method is decoupled from a very fast sampling control system in the 100 kHz range because of the relatively high computational demand. This structure allows to profit from the advantages of model predictive control, such as the handling of constraints, even for very fast sampling systems. Here the state and input trajectories which are naturally available in receding horizon based trajectory planning are used to improve the tracking behavior with the help of a dynamic feed-forward path. This concept of dynamic feed-forward control enables perfect tracking of the planned trajectory even in dynamic operation. Experimental results demonstrate the effectiveness of the proposed planning and control approach for a highly dynamical two-mass system. The proposed scheme is compared to two conventional control techniques.

Original languageEnglish
Title of host publicationSLED/PRECEDE 2013 - 2013 IEEE International Symposium on Sensorless Control for Electrical Drives and Predictive Control of Electrical Drives and Power Electronics
PublisherIEEE Computer Society
ISBN (Print)9781479906819
DOIs
StatePublished - 2013
Event2013 IEEE International Symposium on Sensorless Control for Electrical Drives and Predictive Control of Electrical Drives and Power Electronics, SLED/PRECEDE 2013 - Munich, Germany
Duration: 17 Oct 201319 Oct 2013

Publication series

NameSLED/PRECEDE 2013 - 2013 IEEE International Symposium on Sensorless Control for Electrical Drives and Predictive Control of Electrical Drives and Power Electronics

Conference

Conference2013 IEEE International Symposium on Sensorless Control for Electrical Drives and Predictive Control of Electrical Drives and Power Electronics, SLED/PRECEDE 2013
Country/TerritoryGermany
CityMunich
Period17/10/1319/10/13

Fingerprint

Dive into the research topics of 'Receding horizon based trajectory planning and two-degree-of-freedom tracking control for fast sampling constrained systems'. Together they form a unique fingerprint.

Cite this