Feasible trajectory generation for a dual stage positioning system using a simplified model predictive control approach

Riccardo Antonello, Roberto Oboe, Stefano Bizzotto, Emanuele Siego, Yuma Yazaki, Wataru Ohnishi, Hiroshi Fujimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an algorithm for trajectory planning of dual-stage positioning systems based on a simplified model predictive control approach. Compared to other methods available in literature, the proposed solution has the advantage of generating the feasible trajectories by explicitly taking into account the kinematic constraints of each actuator. This guarantees that the actuators' limits will be never violated, regardless of the feasible nominal trajectory to track with the end-effector. Validation of the proposed solution is carried out on an experimental device consisting of two stages mounted on air bearing guides and moved by linear electric motors.

Original languageEnglish
Title of host publicationProceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages608-613
Number of pages6
ISBN (Print)9781479936335
DOIs
Publication statusPublished - Apr 9 2015
Event2015 IEEE International Conference on Mechatronics, ICM 2015 - Nagoya, Japan
Duration: Mar 6 2015Mar 8 2015

Other

Other2015 IEEE International Conference on Mechatronics, ICM 2015
CountryJapan
CityNagoya
Period3/6/153/8/15

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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    Antonello, R., Oboe, R., Bizzotto, S., Siego, E., Yazaki, Y., Ohnishi, W., & Fujimoto, H. (2015). Feasible trajectory generation for a dual stage positioning system using a simplified model predictive control approach. In Proceedings - 2015 IEEE International Conference on Mechatronics, ICM 2015 (pp. 608-613). [7084046] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMECH.2015.7084046