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Near Time-Optimal Real-Time Path Following Under Error Tolerance and System Constraints

[+] Author and Article Information
Yen-Chi Chang

Mechanical and Aerospace Engineering, University of California, Los Angeles, Los Angeles, California 90095
yenchichang@ucla.edu

Cheng-Wei Chen

Mechanical and Aerospace Engineering, University of California, Los Angeles, Los Angeles, California 90095
jwster@ucla.edu

Tsu-Chin Tsao

Professor, Mechanical and Aerospace Engineering, University of California, Los Angeles, Los Angeles, California 90095
ttsao@ucla.edu

1Corresponding author.

ASME doi:10.1115/1.4038651 History: Received March 06, 2017; Revised November 17, 2017

Abstract

An on-line fast path following control algorithm subject to contouring error tolerance and other prototypical constraints, analogous to a racing car within track boundaries, is presented. A receding horizon Quadratic Programming for real-time implementation on electromechanical systems is proposed. A key feature of the algorithm is that the challenging constrained minimal-time optimization is approximated by minimizing the distance between an unattainable target and actual location when moving along the contour, mimicking pursuing rabbit lures in greyhound racing. Modeling errors and other uncertainties in implementation are compensated for by observer state feedback, which provides real-time updates of initial state for every receding horizon optimization. Applying the proposed on-line method, the requirement of an accurate model from conventional off-line trajectory planning methods is relaxed. The proposed method is demonstrated by experimental results from a 1 kHz sampling rate implementation on a multiaxis nano-lithographic position system.

Copyright (c) 2017 by ASME
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