This paper presents a feedforward technique for arresting motion in nonlinear systems based on two-scale command shaping (TSCS). The advantages of the proposed technique arise from its feedforward nature and ease of implementation in linear and nonlinear systems. Using the TSCS strategy, the control input required to arrest motion is decomposed into two scales—the first arrests dynamics associated with the linear subproblem, while the second eliminates response from the nonlinearities. Using direct numerical integration, the method is assessed using a traditional Duffing system and multi-degree-of-freedom nonlinear systems. Experiments are conducted on a compound pendulum attached to a servomotor, documenting effective arrest of the system in close agreement with theoretical predictions.

本文提出了一种基于两尺度命令整形（TSCS）的非线性系统中用于阻止运动的前馈技术。所提出的技术的优点来自其前馈性质以及在线性和非线性系统中易于实现。使用TSCS策略，停止运动所需的控制输入被分解为两个等级：第一个停止与线性子问题相关的动力学，第二个消除非线性的响应。通过直接数值积分，使用传统的Duffing系统和多自由度非线性系统对方法进行评估。在连接到伺服电动机的复合摆上进行了实验，记录了该系统的有效停止与理论预测非常吻合。