Title :
Proximate time optimal control of an XY positioning table
Author :
Lisboa, Leandro P. ; Lasevich, Henrique ; Neto, Nelso R. B. ; Salton, A.T. ; Flores, J.V.
Author_Institution :
Group of Autom. & Control Syst., Pontifical Univ. of Rio Grande do Sul, Porto Alegre, Brazil
Abstract :
This paper focuses on the development of a time optimal control method for two-dimensional rigid body systems. Our approach is based on the traditional Proximate Time-Optimal Servomechanism (PTOS), which starts with a near-time-optimal controller and then switches to a linear controller at the time when the system output is close to a given target. This paper proposes to expand the PTOS, a unidirectional control law to a two-dimensional system, in order to perform linear point-to-point trajectories.
Keywords :
linear systems; multidimensional systems; optimal control; servomechanisms; PTOS; XY positioning table; linear point-to-point trajectories; near-time-optimal controller; proximate time optimal control; proximate time-optimal servomechanism; two-dimensional rigid body systems; unidirectional control law; Actuators; Equations; IEEE transactions; Mathematical model; Servomechanisms; Trajectory; Nonlinear feedback; Time-optimal performance; Two dimensional rigid body system;
Conference_Titel :
Embedded Systems (SASE/CASE), 2013 Fourth Argentine Symposium and Conference on
Conference_Location :
Buenos Aires
Print_ISBN :
978-1-4799-1098-4
DOI :
10.1109/SASE-CASE.2013.6636773
