Minimum-time contour tracking with model predictive control approach

This paper addresses the contour tracking time duration minimization problem subject to physical constraints of system dynamics, contour error, axial velocity, signal saturation, and monotonic feed. This finite horizon minimum time optimal control problem is approximated and formulated as a receding horizon optimal control, i.e. generalized predictive control, where the trajectory speed (feed-rate) profile is determined for the specified contour. The proposed minimal-time contour tracking optimization is demonstrated by simulation for a bi-axial XY positioning system.