In path tracking design, different methods were developed. In previous works we have presented a method based on fractional differentiation in order to reduce overshoots on the actuator output. It allows the generation of an optimal movement reference-input leading to a minimum path completion time, taking into account the maximum velocity, acceleration and jerk, and the bandwidth of the closed-loop on which the input is applied. Different strategies were developed. In this paper, three methods taking into account the jerk limitation are compared. A comparison with classical input shaper approach is also done. The two first methods, based on fractional differentiation, are used through a Davidson-Cole prefilter with acceleration or jerk bang bang input, to ensure continuity on acceleration and jerk signals on the actuator. The third approach is based on preshaper synthesis with jerk limited input; the shaped input is obtained by convolving desired input with an impulse sequence. The synthesis methodologies of the different methods are studied. Performances are compared on an example, in both frequency and time domains.
- Design Engineering Division and Computers and Information in Engineering Division
Path Tracking Design Based on Jerk Input Fractional Prefilter and Jerk Limited Input Shaper Approaches
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Melchior, P, Jallouli-Khlif, R, Orsoni, B, Derbel, N, & Oustaloup, A. "Path Tracking Design Based on Jerk Input Fractional Prefilter and Jerk Limited Input Shaper Approaches." Proceedings of the ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4: ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications and the 19th Reliability, Stress Analysis, and Failure Prevention Conference. Las Vegas, Nevada, USA. September 4–7, 2007. pp. 313-319. ASME. https://doi.org/10.1115/DETC2007-35518
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