Title :
Trapezoidal velocity trajectory generator with speed override capability
Author :
Thirachai, S. ; Komeswarakul, P. ; Supakchukul, U. ; Suwatthikul, J.
Abstract :
This paper presents a single-axis trajectory generator for point-to-point motion control. Generated profiles are trapezoidal velocity that can “on-the-fly” modify system parameters such as the current destination, speed and acceleration without introducing any overshoots or fluctuations. Simulation results show that the proposed discrete-time and online calculation method guarantees finite step convergence indicating that the process is finished, and a zero steady-state error.
Keywords :
discrete time systems; motion control; position control; variable structure systems; velocity control; discrete-time method; finite step convergence; online calculation method; point-to-point motion control; speed override capability; trapezoidal velocity trajectory generator; Acceleration; Generators; Planing; Steady-state; Time factors; Trajectory; Profile Generation; Sliding Mode Control; Trajectory Planing;
Conference_Titel :
Control Automation and Systems (ICCAS), 2010 International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4244-7453-0
Electronic_ISBN :
978-89-93215-02-1
