Contouring controller for precise motion control systems

Golubovic, Edin and Baran, Eray Abdurrahman and Şabanoviç, Asif (2012) Contouring controller for precise motion control systems. (Accepted/In Press)

WarningThere is a more recent version of this item available.

PDF - Requires a PDF viewer such as GSview, Xpdf or Adobe Acrobat Reader


This paper discusses the trajectory generation algorithm, contour error construction method and finally the contour controller design. In the trajectory generation algorithm combination of elliptical Fourier descriptors (EFD) and time based spline approximation (TBSA) is used to generate position, velocity and acceleration references.Contour error is constructed using transformation of trajectory tracking errors. Transformation is computationally efficient and requires only reference velocity information. Contour controller is designed using sliding mode control. Experiments are performed on planar linear motion stage and significant contour error reduction is observed.

Item Type:Article
Uncontrolled Keywords:Contouring Controller, Precise Motion Control Systems, Time Based Spline Interpolation, Sliding Mode Control, elliptical Fourier descriptors, acceleration controller
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics
ID Code:19720
Deposited By:Asif Şabanoviç
Deposited On:10 Oct 2012 21:02
Last Modified:31 Jul 2019 11:59

Available Versions of this Item

Repository Staff Only: item control page