Affiliation:
1. Department of Mechanical Engineering, University of California, Berkeley, Calif. 94720
Abstract
A method for generating two-dimensional reference trajectories to be followed by a linear second-order system under feedforward/feedback control is proposed. A differential equation is derived which assigns tracking velocity and tangential tracking acceleration as functions of time in such a way to allow high speed motion through an arbitrary smooth curve while guaranteeing the absence of actuator saturation. A method for using preview information for motion along curves with corners is also presented. The results are verified by simulation of a two axis cartesian positioning system under discrete time zero phase error tracking control.
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Cited by
12 articles.
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