- Title
- Constrained minimum-time trajectory generation for a laboratory-scale magnetic-levitation system
- Creator
- Suryawan, Fajar; De Doná, José; Seron, María
- Relation
- 1st Australian Control Conference, 2011 (AUCC 2011). Proceedings of the 1st Australian Control Conference 2011 (Melbourne 10-11 November, 2011) p. 100-105
- Relation
- http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6114281
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2011
- Description
- In this paper we present a method to generate minimum-time constrained trajectories for a magnetic-levitation (Maglev) system. The Maglev model is a differentially flat system, and as such it has the useful property that the input and the state trajectories can be completely characterised by the so-called flat output. We propose a B-splines parameterisation for the flat output, and the corresponding parameterisation for the performance output, the states, and the inputs. Using this parameterisation the problem of minimum-time constrained trajectory planning is cast into a feasibility-search problem in the spline control-points space, in which the constraint region is characterised by a polytope. A close approximation of the minimum-time trajectory is obtained by systematically searching the end-time that makes the constraint polytope to be minimally feasible. Experimental results, validating the method on a laboratory real system, are presented.
- Subject
- time optimal control; constrained trajectory generation; magnetic levitation; differential flatness; B splines
- Identifier
- http://hdl.handle.net/1959.13/1039777
- Identifier
- uon:13699
- Identifier
- ISBN:9780858259874
- Language
- eng
- Full Text
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