In this brief, trajectory tracking control for nonperiodic motions with impacts is analyzed by means of physical experiments. This brief aims at demonstrating the effectiveness and robustness of the control method called reference spreading (RS) on a physical setup. An actuated rebounding pendulum, a one-degree-of-freedom system specifically designed for performing trajectories with partially elastic impacts, acts as a test bench. RS control is compared to both classic proportional derivative (PD) feedback control and distance function-based control, showing superior performance. Evidence of RS’s robustness to delayed impact detection, deteriorated velocity estimation accuracy, and model inaccuracies is moreover reported.

中文翻译：

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参考点传播：1DoF设置的冲击轨迹的跟踪性能

在此简要介绍中，通过物理实验分析了具有冲击的非周期性运动的轨迹跟踪控制。本简报旨在证明物理设置上称为参考扩展（RS）的控制方法的有效性和鲁棒性。专门设计用于执行具有部分弹性冲击的弹道的单向摆动回弹摆锤作为试验台。将RS控制与经典比例微分（PD）反馈控制和基于距离函数的控制进行了比较，显示了卓越的性能。此外，还报道了RS对延迟冲击检测的鲁棒性，速度估计精度下降以及模型不准确的证据。