Open AccessVibration‐energy‐optimal trajectory planning for flexible servomotor systems with state constraints
Author(s) -
Mu Haihua,
Chen Han,
Zhu Yu
Publication year - 2019
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2018.5532
Subject(s) - control theory (sociology) , jerk , acceleration , trajectory , vibration , residual , energy consumption , sequential quadratic programming , servomotor , quadratic programming , mathematical optimization , energy (signal processing) , discretization , computer science , engineering , mathematics , algorithm , control (management) , mathematical analysis , statistics , physics , classical mechanics , quantum mechanics , artificial intelligence , astronomy , electrical engineering
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.