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TECHNICAL BRIEFS

Receding Time Horizon Linear Quadratic Optimal Control for Multi-Axis Contour Tracking Motion Control

[+] Author and Article Information
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

J. Dyn. Sys., Meas., Control 122(2), 375-381 (Dec 15, 1998) (7 pages) doi:10.1115/1.482476 History: Received December 15, 1998
Copyright © 2000 by ASME
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References

Figures

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Definition of tracking error and contour error
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Points along a circular contour, path is toward lower left
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Experimental RMS tracking error Hs(QNp)
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Simulated RMS tracking error Hs(QNp)
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Experimental RMS contour error Hs(QNp)
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Simulated RMS contour error Hs(QNp)
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Experimental RMS tracking error for Hs(Qmax)
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Experimental RMS contour error for Hs(Qmax)
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RMS tracking error versus preview length, α=4,β=0 (simulated, +, and experimental, ×)
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Mean contour error squared versus preview length, α=0.25,β=15 (simulated, +, and experimental, ×)

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