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TECHNICAL PAPERS

A New Approach of Coordinated Motion Control Subjected to Actuator Saturation

[+] Author and Article Information
Weiguang Niu

Quantum Corporation, 500 McCarthy Blvd., Milpitas, CA 95035e-mail: weiguang.niu@mail.qntm.com

Masayoshi Tomizuka

Department of Mechanical Engineering, University of California at Berkeley, Berkeley, CA 94720-1740e-mail: tomizuka@me.berkeley.edu

J. Dyn. Sys., Meas., Control 123(3), 496-504 (Jul 22, 1999) (9 pages) doi:10.1115/1.1387247 History: Received July 22, 1999
Copyright © 2001 by ASME
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References

Figures

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Tracking and contouring error
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Tangential and normal tracking error
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The proposed coordinated motion control subjected to actuator saturation
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One axis motion control system
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The two-dimensional profile of a sharp cornered trajectory
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The position and velocity profile of a sharp cornered trajectory
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The tracking performance of a sharp cornered trajectory without saturation limits (desired path in dash line and actual path in solid line in the upper left figure)
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The tracking performance without anti-windup term of a sharp cornered trajectory without saturation limits (desired path in dash line and actual path in solid line in the upper left figure)
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The tracking performance with anti-windup term of a sharp cornered trajectory with saturation limits (desired path in dash line and actual path in solid line in the upper left figure)
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The tracking performance with anti-windup term of a sharp cornered trajectory using the proposed on-line trajectory planning (desired path in dash line and actual path in solid line in the upper left figure)

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