Design and implementation of trajectory planning for a high-order bounded reference

In control engineering, control processes are regulated to prevent transient shocks to test rigs. As an important part of the control loop, the reference may be continuous and bounded to avoid the transient impulse generated by the controller. Therefore, a high-order bounded reference (HOBR) is proposed for the trajectory generation. This paper studies the smooth control process and constrained reference generation for large testing platforms. Utilizing the Hermite interpolation technique, a planning method for the HOBR is proposed to ensure a smooth and bounder generated trajectory, which derives an analytic function for the desired reference. In addition, an observer-based state feedback controller is presented and applied to enable the system output to converge asymptotically to the desired reference. The theoretical analysis shows that the HOBR satisfies continuous constraints and boundary constraints at the same time. Finally, the effectiveness of the proposed HOBR in two constraints is demonstrated by both simulations and experiments.