XY定位工作台的近似时间最优控制

2013 Fourth Argentine Symposium and Conference on Embedded Systems (SASE/CASE) Pub Date : 2013-10-21 DOI:10.1109/SASE-CASE.2013.6636773

L. P. Lisboa, Henrique Lasevich, N. B. Neto, A. Salton, J. Flores

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引用次数: 1

摘要

本文主要研究二维刚体系统的时间最优控制方法。我们的方法是基于传统的近似时间最优伺服机构(PTOS)，它从一个近似时间最优控制器开始，然后在系统输出接近给定目标时切换到线性控制器。本文提出将PTOS这一单向控制律扩展到二维系统，以实现点对点的线性轨迹。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proximate time optimal control of an XY positioning table

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.

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2013 Fourth Argentine Symposium and Conference on Embedded Systems (SASE/CASE)

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