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

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.