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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

Tomizuka, M., and Rosenthal, D., 1978, “On the optimal digital state vector feedback controller with integral and preview actions,” Proc. of 1978 Joint Automatic Control Conference, pp. 155–168, 1978.
Tomizuka,  M., 1987, “Zero phase error tracking algorithm for digital control,” ASME J. Dyn. Syst., Meas., Control, 109, pp. 65–68.
Bobrow,  S. D. J., and Gibson,  J., 1985, “Time-optimal control of robotic manipulators along specified paths,” Int. J. Robot. Res., 4, No. 3, pp. 3–17.
Shin,  E., and McKay,  N., 1985, “Minimum-time control of robotic manipulator with geometric path constraints,” IEEE Trans. Autom. Control, AC-30, pp. 531–541.
Butler,  B. H. J., and Tomizuka,  M., 1991, “Reference input generation for high speed coordinated motion of a two axis system,” ASME J. Dyn. Syst., Meas., Control, 113, pp. 67–74.
Koren,  Y., 1980, “Cross-coupled biaxial computer controls for manufacturing systems,” ASME J. Dyn. Syst., Meas., Control, 102, pp. 265–272.
Kulkarni,  P., and Srinivasan,  K., 1990, “Cross-coupled control of biaxial feed drive servomechanisms,” ASME J. Dyn. Syst., Meas., Control, 112, pp. 225–232.
Huang,  L.-J., and Tomizuka,  M., 1990, “A self-paced fuzzy tracking controller for two-dimensional motion control,” IEEE Trans. Syst. Man Cybern., 20, No. 5, pp. 1115–1124.
Niu,  W., and Tomizuka,  M., 2000, “An anti-windup design for linear system with asymptotic tracking subjected to actuator saturation,” ASME J. Dyn. Syst., Meas., Control, 122, No. 2, pp. 369–374.
Chiu,  T.-C., and Tomizuka,  M., 1998, “Coordination control of multiple axes mechanical systems,” ASME J. Dyn. Syst., Meas., Control, 120, No. 3, pp. 389–393.
Kapoor, N., Teel, A., and Daoutidis, P., 1996, “On anti-integrator-windup and global asymptotic stability,” Proc. of the 14th IFAC World Congress, San Francisco, pp. 67–72.
Åström, K., and Wittenmark, B., 1984, Computer-Controlled Systems Theory and Design, Englewood Cliffs, Prentice-Hall, NY, Prentice-Hall.
Niu, W., 1998, “Coordinated Motion Control Subjected to Actuator Saturation,” PhD thesis, University of California at Berkeley, Berkeley, CA.
Almajed, M., 1997, “High Performance Machine Tool Controllers—A Control Theoretic Study and a PC-Based Realization,” PhD thesis, University of California at Berkeley, Berkeley, CA.

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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