Trajectory generation with rich information content

Research output: Chapter in Book/Report/Conference proceedingsConference contribution

Abstract

Often, trajectories for mechanical systems are generated solving some optimization problem. Common approaches include time-optimal, energy optimal, etc., motion profiles. In order to decrease mechanical wear of real plants this profiles provide, e.g., a smooth movement (rest-to-rest) in accordance with restrictions in jerk, acceleration and velocity. There exists a number of methods, to calculate for a given trajectory the plant feed forward action and to design stabilizing controllers. In case of parameter uncertainty the control law often exhibits some adaptive part. Unfortunately, smooth trajectories tend to contain insufficient excitation for adaption and/or identification. Therefore, we propose to consider some measure for the information content concerning some unknown parameters in the trajectory optimization problem.
Original languageEnglish
Title of host publicationPAMM Vol. 14
Pages917-918
DOIs
Publication statusPublished - 2014
EventGAMM 2014 - Erlangen, Germany
Duration: 10 Mar 201414 Mar 2014

Conference

ConferenceGAMM 2014
CountryGermany
CityErlangen
Period10.03.201414.03.2014

Keywords

  • Optimal Input Design

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