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This paper gives an algorithm for fourth order trajectory planning with constrained dynamics for single axis motion control. A model-based feedforward controller is derived that makes full use of these trajectories. Application to industrial high-precision electromechanical motion systems is motivated. Issues like time-optimality, implementation and digitization are considered. Simulation results...
The problem of steering the state of a dynamic system to a target set while avoiding specified regions of state space is considered. Sufficient conditions for attaining the target are given in terms of a Lyapunov-type attraction test function, while avoidance of forbidden regions is guaranteed by a relationship between the state trajectory and a set of barrier functions. These sufficient conditions...
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