2021
DOI: 10.1177/01423312211056444
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A large-stroke rapid motion controller for servo applications with speed and control constraints

Abstract: Large-stroke rapid motion is required in many industrial servo systems (e.g. pick-and-place applications), on which constraints of control input and motion speed are usually imposed. This paper presents a hybrid control scheme for large-stroke rapid motion in such systems. The controller resorts to the time-optimal control (TOC) for maximum acceleration initially and then switches into a linear control law to achieve smooth settling. A speed regulation stage is inserted in the tracking process to prevent viola… Show more

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References 36 publications
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