Receding Time Horizon Linear Quadratic Optimal Control for Multi-Axis Contour Tracking Motion Control1
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Published:1998-12-15
Issue:2
Volume:122
Page:375-381
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ISSN:0022-0434
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Container-title:Journal of Dynamic Systems, Measurement, and Control
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language:en
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Short-container-title:
Author:
McNab Robert J.1, Tsao Tsu-Chin2
Affiliation:
1. Western Digital Cooperation, San Jose, CA 95138 2. Mechanical and Aerospace Engineering Department, University of California-Los Angeles, Los Angeles, CA 90095-1597
Abstract
A receding time horizon linear quadratic optimal control approach is formulated for multi-axis contour tracking problem. The approach employs a performance index with fixed weights on quadratic contouring error, tracking error, and control input over a future finite horizon. The problem is then cast into a standard receding horizon LQ problem with time varying weighting matrices, which are functions of the future contour trajectory within the horizon. The formulation thus leads to a solution of time varying state feedback and finite preview gains. Stability is proven for the linear trajectory case. Experimental and simulated results for an X-Y motion control problem are presented, which demonstrate the effectiveness of the control scheme and the effects of the key controller design parameters. [S0022-0434(00)01202-8]
Publisher
ASME International
Subject
Computer Science Applications,Mechanical Engineering,Instrumentation,Information Systems,Control and Systems Engineering
Reference20 articles.
1. Poo, N., and Bollinger, J. G., 1972, “Dynamic Errors in Type 1 Contouring Systems,” IEEE Trans. Ind. Appl., IA-8, No. 4, pp. 477–484, July. 2. Koren, Y.
, 1980, “Cross-Coupled Biaxial Computer Control for Manufacturing Systems,” ASME J. Dyn. Syst., Meas., Control, 102, pp. 265–272. 3. Kulkarni, P. K., and Srinivasan, K., 1989, “Optimal Contouring Control of Multi-Axial Feed Drive Servomechanisms,” ASME J. Eng. Ind., 111, pp. 140–148. 4. Srinivasan, K., and Kulkarni, P. K., 1990, “Cross-Coupled Control of Biaxial Feed Drive Servomechanisms,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 225–232. 5. Koren, Y., and Lo, C. C., 1991, “Variable-Gain Cross-Coupling Controller for Contouring,” Ann. CIRP, 40, pp. 371–374.
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