Model predictive contouring control

Biaxial contouring systems involve competing control objectives of maximising accuracy while minimising traversal time. In this paper, a model predictive controller for contouring systems is proposed where the control inputs are determined by minimising a cost function which reflects the trade-off b...

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Bibliographic Details
Published in49th IEEE Conference on Decision and Control (CDC) pp. 6137 - 6142
Main Authors Lam, D, Manzie, C, Good, M
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2010
Subjects
Accuracy
Approximation methods
Cost function
Predictive models
Stability analysis
Trajectory
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Summary:Biaxial contouring systems involve competing control objectives of maximising accuracy while minimising traversal time. In this paper, a model predictive controller for contouring systems is proposed where the control inputs are determined by minimising a cost function which reflects the trade-off between these competing objectives, subject to state and actuator constraints. To facilitate real-time implementation, a linear time-varying approach is proposed, and stability is guaranteed by introducing an additional contraction constraint. Simulation results for an XY table system demonstrate the effectiveness of the proposed contouring control scheme.
ISBN:142447745X
9781424477456
ISSN:0191-2216
DOI:10.1109/CDC.2010.5717042