COMMAND GENERATION COMBINING INPUT SHAPING AND SMOOTH BASELINE FUNCTIONS

摘要

One preferred embodiment of the invention provides systems and methods for controlling a physical system by generating an input to the physical system that does not excite unwanted dynamics. Briefly described, one embodiment of the system (100) among others, can be broadly summarized by as follows. A control entity generates a desired motion command D(t) for a physical system (10). A command generator (50) then produces a shaped-smooth reference command r(t) for the physical system (10) from the desired motion command D(t) that will cause the physical system (10) to move in the desired motion without unwanted dynamics. Methods and other systems are also provided.