TR2016-042

Control of Dual-stage Processing Machines by Bounded Tracking-error MPC


    •  Di Cairano, S.; Goldsmith, A.M., "Control of Dual-stage Processing Machines by Bounded Tracking-error MPC", American Control Conference (ACC), DOI: 10.1109/ACC.2016.7525167, July 2016, pp. 1735-1740.
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      • @inproceedings{DiCairano2016jul1,
      • author = {{Di Cairano}, S. and Goldsmith, A.M.},
      • title = {Control of Dual-stage Processing Machines by Bounded Tracking-error MPC},
      • booktitle = {American Control Conference (ACC)},
      • year = 2016,
      • pages = {1735--1740},
      • month = jul,
      • doi = {10.1109/ACC.2016.7525167},
      • url = {http://www.merl.com/publications/TR2016-042}
      • }
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  • Research Area:

    Mechatronics


We consider a dual-stage precision manufacturing machine where a worktool is actuated via a motion system consisting of a "fast" stage with large bandwidth but small operating range, and a "slow" stage with smaller bandwidth but larger operating range. We design a controller based on a recently developed tracking method for constrained systems that guarantees enforcement of constraints and of an assigned bound on the tracking error. For satisfying the controller assumption, we design a reference trajectory generation algorithm that is simple and can also be executed offline. The proposed control system guarantees correct processing of the pattern and finite processing time, for which bounds can be easily computed.