Title :
Energy-Optimal Time Allocation of a Series of Point-to-Point Motions
Author :
Janssens, Pieter ; Pipeleers, Goele ; Diehl, Moritz ; Swevers, Jan
Author_Institution :
Dept. of Mech. Eng., Katholieke Univ. Leuven, Leuven, Belgium
Abstract :
When a system has to perform a series of point-to-point (PTP) motions within a given time, the execution time for each individual motion is, in many cases, free to choose. This letter presents a dynamic programming algorithm to allocate the time to each motion in a series of PTP motions in an energy-optimal way. The algorithm is demonstrated on an xy-positioning stage and the results are compared with an equal time allocation scheme.
Keywords :
dynamic programming; motion control; optimal control; position control; PTP motions; dynamic programming algorithm; energy-optimal time allocation; motion control; point-to-point motions; xy-positioning stage; Convex functions; Dynamic programming; Energy consumption; Heuristic algorithms; Motion control; Optimal control; Optimization; $xy$ -positioning stage; Energy-optimal point-to-point (PTP) motions; motion control; xy-positioning stage.;
Journal_Title :
Control Systems Technology, IEEE Transactions on
DOI :
10.1109/TCST.2014.2301375
