Fast continuous path tracking control considering high precision and torque saturation

Continuous path tracking control is an important technology for the position control system such as factory automation field. Particularly, large acceleration and/or deceleration torque is required for continuous path tracking control at its start position and its goal position. Each AC servo motor of continuous path tracking control has limitation of current and voltage. Therefore, in controlling a multi-degree-of-freedom continuous path tracking control system, even if only the motor torque of one axis has the current limitation, the actual position response is not often equal to the desired trajectory reference. In fast continuous path tracking control of multi-degree-of-freedom position control system, the position error sometimes increases according to the unknown disturbance torque and inertia variation. In order to overcome these problems, this paper proposes a new continuous path tracking control algorithm by considering both the torque saturation and the coordinated motion. The proposed method assures the coordinated motion by considering the torque limitation. The effectiveness of the proposed method is confirmed by the experimental results in this paper.