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A Trajectory Planning Method for Output Tracking of Linear Flexible Systems Using Exact Equilibrium Manifolds

Authors
Choi, YoungjinCheong, JoonoMoon, Hyungpil
Issue Date
Oct-2010
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Keywords
Dynamic inversion; equilibrium manifold; flexible systems; singular perturbation; trajectory planning
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.15, no.5, pp.819 - 826
Indexed
SCIE
SCOPUS
Journal Title
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume
15
Number
5
Start Page
819
End Page
826
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/115596
DOI
10.1109/TMECH.2009.2034261
ISSN
1083-4435
Abstract
This paper describes a new trajectory planning method for the output tracking control of linear flexible systems; this method computes the exact solution of the equilibrium manifold. We establish a system of differential equations by combining kinematic and dynamic constraints and reformulate them in a singularly perturbed dynamics to obtain the equilibrium manifold in the form of an infinite series, which is our planned trajectory. We show that for the desired output defined by exponential functions, the equilibrium manifold becomes a converging geometric series that has a succinct form of summation. In addition, the inverse torque, which is the feedforward command, is easily produced by using the computed exact equilibrium manifold. We validate the effectiveness of the proposed method through simulations and experimental studies using a single-link flexible arm.
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