Time optimal trajectory planning with feedforward and friction compensation

Author

Berger, Ari ; Ioslovich, Ilya ; Gutman, Per-Olof

Author_Institution

Fac. of Civil & Environ. Eng., Technion - Israel Inst. of Technol., Haifa, Israel

fYear

2015

fDate

1-3 July 2015

Firstpage

4143

Lastpage

4148

Abstract

The problem of time-optimal trajectory design for high performance point-to-point positioning system under state and control constraints is considered. The proposed solution takes into account Coulomb and viscous friction. A particular structure for the trajectory is postulated, and conditions for its optimality are proven using the Pontryagin Maximum Principle. The explicit solution for the co-states is found. It is shown that one of the co-states contain jumps, together with two singular arcs. Results for a real-life implementation on a nano-positioning X-Y stage are shown.

Keywords

compensation; feedforward; friction; maximum principle; path planning; trajectory control; Coulomb friction; Pontryagin maximum principle; control constraint; feedforward compensation; friction compensation; high performance point-to-point positioning system; nanopositioning X-Y stage; state constraint; time optimal trajectory planning; time-optimal trajectory design; viscous friction; Boundary conditions; Feedforward neural networks; Force; Frequency measurement; Friction; Switches; Trajectory; Feedforward; Minimum time trajectory; Motion control; Optimal S-curve; Pontryagin maximum principle;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2015

Conference_Location

Chicago, IL

Print_ISBN

978-1-4799-8685-9

Type

conf

DOI

10.1109/ACC.2015.7171979

Filename

7171979