Title:
SHAPING AND SMOOTH BASELINE FUNCTION COMMAND GENERATOR
Document Type and Number:
WIPO Patent Application WO2003079532
Kind Code:
A3
Abstract:
One preferred embodiment of the invention provides systems and methods for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics. Briefly described, one embodiment of the system (100) among others, can be broadly summarized by as follows. A control entity generates a desired motion command D(t) for a physical system (10). A command generator (50) then produces a shaped-smooth reference command r(t) for the physical system (10) from the desired motion command D(t) that will cause the physical system (10) to move in the desired motion without unwanted dynamics. Methods and other systems are also provided.
Inventors:
ELOUNDOU RAYNALD FABRICE
SINGHOSE WILLIAM EARL
SINGHOSE WILLIAM EARL
Application Number:
PCT/US2003/007549
Publication Date:
December 18, 2003
Filing Date:
March 13, 2003
Export Citation:
Assignee:
GEORGIA TECH RES INST (US)
International Classes:
G05B19/401; G05B19/416; H02P6/18; H02P6/22; (IPC1-7): G01M1/38; G05B15/00
Foreign References:
| US6102221A | 2000-08-15 | |||
| US6505085B1 | 2003-01-07 | |||
| US6002232A | 1999-12-14 | |||
| US5638267A | 1997-06-10 | |||
| US4849900A | 1989-07-18 |
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