Application of model predictive contouring control to an X-Y table

Abstract

Model predictive contouring control is a new control scheme based on minimization of a cost function which reflects the trade-off between the competing objectives of accuracy and traversal time. In this paper, model predictive contouring control is implemented in real time on an X-Y table. The controller automatically adjusts the feed rate to maintain accuracy along the desired path. By varying the cost function weights, higher accuracy can be achieved by sacrificing productivity, or vice versa. Experimental results demonstrate that the new contouring control scheme achieves an improvement in performance compared to PI based and traditional MPC tracking controllers. © 2011 IFAC.