Proximate time optimal control of an XY positioning table

Abstract

This paper focuses on the development of a time optimal control method for two-dimensional rigid body systems. Our approach is based on the traditional Proximate Time-Optimal Servomechanism (PTOS), which starts with a near-time-optimal controller and then switches to a linear controller at the time when the system output is close to a given target. This paper proposes to expand the PTOS, a unidirectional control law to a two-dimensional system, in order to perform linear point-to-point trajectories.