TR2013-056

Real-Time Energy-Optimal Trajectory Generation for a Servo Motor


    •  Zhao, Y.; Wang, Y.; Bortoff, S.A.; Ueda, K., "Real-Time Energy-Optimal Trajectory Generation for a Servo Motor", American Control Conference (ACC), ISSN: 0743-1619, ISBN: 978-1-4799-0177-7, June 2013, pp. 1165-1170.
      BibTeX Download PDF
      • @inproceedings{Zhao2013jun2,
      • author = {Zhao, Y. and Wang, Y. and Bortoff, S.A. and Ueda, K.},
      • title = {Real-Time Energy-Optimal Trajectory Generation for a Servo Motor},
      • booktitle = {American Control Conference (ACC)},
      • year = 2013,
      • pages = {1165--1170},
      • month = jun,
      • issn = {0743-1619},
      • isbn = {978-1-4799-0177-7},
      • url = {http://www.merl.com/publications/TR2013-056}
      • }
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  • Research Areas:

    Advanced Control Systems, Dynamical Systems, Mechatronics


This paper considers the fast generation of speed and acceleration constrained energy-optimal trajectories for a motor system performing a point-to-point positioning task with a fixed final time. An algorithm is proposed to obtain the energy-optimal solution by solving a series of Two-point Boundary Value Problems (TBVPs) with guaranteed convergence. The algorithm is capable of generating energy-optimal trajectories in real-time.