학술논문
Desensitization of the time-optimal trajectories
Document Type
Conference
Author
Source
2016 21st International Conference on Methods and Models in Automation and Robotics (MMAR) Methods and Models in Automation and Robotics (MMAR), 2016 21st International Conference on. :692-696 Aug, 2016
Subject
Language
Abstract
The time-optimal trajectories are very sensitive to disturbances. The use of optimal strategy in real-time inevitably results in a departure from the optimal path. A return to the trajectory is no longer possible. When the time-optimal is replaced to the fix horizon problem then the real system moves from the optimal to nearing trajectories. Moreover, a further desensitization is possible by a proper shifting. The nearing desensitized trajectories are robust to disturbances at the cost of a slight increase in the control time.