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Path tracking design based on fractional prefilter with acceleration input and comparison with preshaper approach.

Abstract : In path tracking design, the dynamic of actuators must be taken into account in order to reduce overshoots on the actuator outputs. Different methods were developed. One based on fractional differentiation allows the generation of optimal movement reference-input leading to a minimum path completion time, taking into account maximum velocity and acceleration and the bandwidth of the system. Different strategies were developed. In this paper, fractional differentiation is used through a Davidson-Cole prefilter with acceleration bang bang input to ensure continuity on acceleration and jerk signals. In order to compare, a second approach, based on preshaper synthesis, is presented; the shaped input is obtained by convolving desired input with an impulse sequence. The synthesis methodologies and performances of both methods are studied and compared on an example.
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https://hal.archives-ouvertes.fr/hal-00204255
Contributor : Pierre Melchior <>
Submitted on : Monday, January 14, 2008 - 11:33:37 AM
Last modification on : Friday, February 28, 2020 - 12:46:11 PM

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  • HAL Id : hal-00204255, version 1

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Pierre Melchior, R. Jallouli-Khlif, P. Melchior, B. Orsoni, N. Derbel, et al.. Path tracking design based on fractional prefilter with acceleration input and comparison with preshaper approach.. Transactions on Systems, Signals and Devices, Issue on "Systems, Analysis & Automatic Control", Shaker-Verlag Publisher, 2008, NC (NC), pp.NC. ⟨hal-00204255⟩

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