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TECHNICAL PAPERS

Rapid Tracking With Automatic Trajectory Optimization for Speed

[+] Author and Article Information
C. C. H. Ma, T. W. T. Qian

Department of Electrical Engineering, 2356 Main Mall, The University of British Columbia, Vancouver, B.C. Canada V6T 1Z4

J. Dyn. Sys., Meas., Control 121(4), 697-702 (Dec 01, 1999) (6 pages) doi:10.1115/1.2802537 History: Received December 21, 1994; Online December 03, 2007

Abstract

An automatic trajectory optimization scheme, which takes the system dynamics into account, is presented in this paper. It is developed for use in conjunction with the rapid-tracking learning control. It optimizes the reference trajectory such that tracking will be speeded up whenever the actuator capability is not fully utilized, and slowed down whenever the actuator would otherwise saturate. This yields not only excellent fast tracking performance but also a new reference trajectory which accommodates the saturation constraint of the control actuator. Application of the proposed strategy in control practice will ease the burden of having to precisely design the timing of a reference trajectory in a tracking control problem. The resulting controlled system is able to precisely track short but highly complex trajectories at the highest speed physically possible. Simulation and experimental results of simultaneously controlling two motors to emulate servoing an x-y table are given to demonstrate the effectiveness of the proposed methodology.

Copyright © 1999 by The American Society of Mechanical Engineers
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