Trajectory Planning for Mechanical Systems Based on Time-Reversal Symmetry

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27240%2F20%3A10245687" target="_blank" >RIV/61989100:27240/20:10245687 - isvavai.cz</a>

Výsledek na webu

<a href="https://www.mdpi.com/2073-8994/12/5/792" target="_blank" >https://www.mdpi.com/2073-8994/12/5/792</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.3390/sym12050792" target="_blank" >10.3390/sym12050792</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Trajectory Planning for Mechanical Systems Based on Time-Reversal Symmetry

Popis výsledku v původním jazyce

The generation of feasible trajectories poses an eminent task in the field of control design in mechanical systems. The paper demonstrates innovative approach in trajectory planning for mechanical systems via time-reversal symmetry. It also presents two case studies: mass-spring-damper and inverted pendulum on the cart. As real systems break the time-reversal symmetry, the authors of this work propose a unique method in order to overcome this drawback. It computes a feed-forward reference control signal and state trajectories. The proposed solution enables compensation for the effects of couplings, which break the time-symmetry by a special proposed measure. The method suppresses the overall open-loop accumulated error and produces high-quality favorable control and state trajectories. Furthermore, the existence of the designed control signal and state trajectories is guaranteed if the equations of the motion have a solution in the direct flow of time.

Název v anglickém jazyce

Trajectory Planning for Mechanical Systems Based on Time-Reversal Symmetry

Popis výsledku anglicky

The generation of feasible trajectories poses an eminent task in the field of control design in mechanical systems. The paper demonstrates innovative approach in trajectory planning for mechanical systems via time-reversal symmetry. It also presents two case studies: mass-spring-damper and inverted pendulum on the cart. As real systems break the time-reversal symmetry, the authors of this work propose a unique method in order to overcome this drawback. It computes a feed-forward reference control signal and state trajectories. The proposed solution enables compensation for the effects of couplings, which break the time-symmetry by a special proposed measure. The method suppresses the overall open-loop accumulated error and produces high-quality favorable control and state trajectories. Furthermore, the existence of the designed control signal and state trajectories is guaranteed if the equations of the motion have a solution in the direct flow of time.

Druh

J_imp - Článek v periodiku v databázi Web of Science

CEP obor

—

OECD FORD obor

20205 - Automation and control systems

Projekt

<a href="/cs/project/EF16_019%2F0000867" target="_blank" >EF16_019/0000867: Centrum výzkumu pokročilých mechatronických systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2020

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

Symmetry

ISSN

2073-8994

e-ISSN

—

Svazek periodika

12

Číslo periodika v rámci svazku

5

Stát vydavatele periodika

CH - Švýcarská konfederace

Počet stran výsledku

19

Strana od-do

—

Kód UT WoS článku

000540226400110

EID výsledku v databázi Scopus

2-s2.0-85085368476