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 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]
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June 2000
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Receding Time Horizon Linear Quadratic Optimal Control for Multi-Axis Contour Tracking Motion Control1
Robert J. McNab,
Robert J. McNab
Western Digital Cooperation, San Jose, CA 95138
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Tsu-Chin Tsao
Tsu-Chin Tsao
Mechanical and Aerospace Engineering Department, University of California-Los Angeles, Los Angeles, CA 90095-1597
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Robert J. McNab
Western Digital Cooperation, San Jose, CA 95138
Tsu-Chin Tsao
Mechanical and Aerospace Engineering Department, University of California-Los Angeles, Los Angeles, CA 90095-1597
Conbributed by the Dynamic Systems and Control Division for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscrip received by the Dynamic Systems and Control Division December 15, 1998. Associate Technical Editor: T. Kurfess.
J. Dyn. Sys., Meas., Control. Jun 2000, 122(2): 375-381 (7 pages)
Published Online: December 15, 1998
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Received:
December 15, 1998
Citation
McNab, R. J., and Tsao, T. (December 15, 1998). "Receding Time Horizon Linear Quadratic Optimal Control for Multi-Axis Contour Tracking Motion Control." ASME. J. Dyn. Sys., Meas., Control. June 2000; 122(2): 375–381. https://doi.org/10.1115/1.482476
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