TAILIEUCHUNG - CRC Press - Robotics and Automation Handbook Episode 1 Part 7

Tham khảo tài liệu 'crc press - robotics and automation handbook episode 1 part 7', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | FIGURE Response to shaped square trajectory. constructing reaction jet commands the amount of fuel can be limited or set to a specific amount 39-44 . It is also possible to limit the transient deflection 45 46 . Furthermore vibration reduction and slewing can be completed simultaneously with momentum dumping operations 47 . The sections above are not intended to be complete but they are an attempt to give an introduction to and a reference for using command generation in the area of trajectory following. The list of successful applications and extensions of command generation will undoubtedly increase substantially in the years to come. Feedforward Control Action Feedforward control is concerned with directly generating a control action force torque voltage etc. rather than generating a reference command. By including an anticipatory corrective action before an error shows up in the response a feedforward controller can provide much better trajectory tracking than with feedback control alone. It can be used for a variety of cases such as systems with time delays nonlinear friction 48 or systems performing repeated motions 49 . Most feedforward control methods require an accurate system model so robustness is an important issue to consider. Feedforward control can also be used to compensate for a disturbance if the disturbance itself can be measured before the effect of the disturbance shows up in the system response. A block diagram for such a case is shown in Figure . The generic control system diagram that was first shown in Figure shows the feedforward block injecting control effort directly into the plant as an auxiliary to the effort of the feedback controller. Decoupling this type of control from the action of the command generator which creates an appropriate reference command makes analysis and design of the overall control system simpler. However this nomenclature is not universal. There are numerous papers and books that refer to command

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