Abstract:
Biaxial contouring systems involve competing control objectives of maximising accuracy while minimising traversal time. In this paper, a model predictive controller for c...Show MoreMetadata
Abstract:
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.
Published in: 49th IEEE Conference on Decision and Control (CDC)
Date of Conference: 15-17 December 2010
Date Added to IEEE Xplore: 22 February 2011
ISBN Information: