Trajectory planning for mechanical systems based on time-reversal symmetry
Authors:
- Stepan Ozana,
- Tomas Docekal,
- Aleksandra Kawala-Sterniuk,
- Jakub Możaryn,
- Milos Schlegel,
- Akshaya Raj
Abstract
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.
- Record ID
- WUTf6189ab6b11f4e8c819f91223efa9b9b
- Author
- Journal series
- Symmetry-Basel, ISSN 2073-8994
- Issue year
- 2020
- Vol
- 12
- No
- 5
- Pages
- 1-19
- Publication size in sheets
- 0.90
- Article number
- 792
- Keywords in English
- time-reversal symmetry, trajectory planning, inverted pendulum, mass-spring-damper model, two-point BvP
- ASJC Classification
- ; ; ;
- DOI
- DOI:10.3390/SYM12050792 Opening in a new tab
- URL
- https://www.mdpi.com/2073-8994/12/5/792 Opening in a new tab
- Language
- (en) English
- License
- File
-
- File: 1
- Trajectory planning for mechanical systems based on time-reversal symmetry, File WUTf6189ab6b11f4e8c819f91223efa9b9b.pdf / 877 KB
- WUTf6189ab6b11f4e8c819f91223efa9b9b.pdf
- publication date: 26-01-2022
- Trajectory planning for mechanical systems based on time-reversal symmetry, File WUTf6189ab6b11f4e8c819f91223efa9b9b.pdf / 877 KB
-
- Score (nominal)
- 70
- Score source
- journalList
- Score
- = 70.0, 17-05-2022, ArticleFromJournal
- Publication indicators
- = 2; = 0; = 3; : 2016 = 0.640; : 2018 (2 years) = 2.143 - 2018 (5 years) =2.041
- Citation count
- 3
Share
- Uniform Resource Identifier
- https://repo.pw.edu.pl/info/article/WUTf6189ab6b11f4e8c819f91223efa9b9b/
- URN
urn:pw-repo:WUTf6189ab6b11f4e8c819f91223efa9b9b
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or PerishOpening in a new tab system.