We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Vibration‐energy‐optimal trajectory planning for flexible servomotor systems with state constraints.
- Authors
Mu, Haihua; Chen, Han; Zhu, Yu
- Abstract
This study proposes a trajectory planning approach to achieve minimum energy consumption and zero residual vibration for flexible servomotor systems with state constraints. Differing from existing approaches, the proposed approach firstly constrains residual vibration to zero, and total energy consumption as an objective is minimised under the condition of residual vibration suppression and meanwhile, the state constraints of velocity, acceleration, and jerk are satisfied. By the convexification of the minimum energy consumption objective function and the discretisation of relevant terms, the trajectory generation is successfully formulated into a quadratic programming problem, which is solved by convex optimisation technique. Comparative simulations and experiments are carried out, and the results indicate the effectiveness of the proposed method.
- Publication
IET Control Theory & Applications (Wiley-Blackwell), 2019, Vol 13, Issue 2, p59
- ISSN
1751-8644
- Publication type
Article
- DOI
10.1049/iet-cta.2018.5532