A decoupled path-following control algorithm based upon the decomposed trajectory error

This paper proposes a new path-following control algorithm for the machine tool servo systems. The controller first decomposes the normal tracking error from the advancing tangential error. A dynamic decoupling procedure is then proposed to the advancement mechanism and the trajectory tracking mechanism in the machine tool servo. A dynamic decoupling controller is propose to operate on the decomposed tangential and normal tracking errors. The normal control minimizes the perpendicular tracking error while the tangential control maintains a desired feed rate. The method is applied on an experimental X-Y table, and the results show good tracking and trajectory following characteristics. The new algorithm enables the design of a non-overshooting controller along the path. This would allow no-over-cutting process for the machine tool operation