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Original scientific paper
https://doi.org/10.7305/automatika.54-1.304

Contouring Controller for Precise Motion Control Systems

Edin Golubovic   ORCID icon orcid.org/0000-0001-7410-3369 ; Sabanci University Istanbul, Turkey
Eray A. Baran ; Sabanci University Istanbul, Turkey
Asif Sabanovic   ORCID icon orcid.org/0000-0002-2783-9354 ; Sabanci University Istanbul, Turkey

Fulltext: english, pdf (1 MB) pages 19-27 downloads: 1.220* cite
APA 6th Edition
Golubovic, E., Baran, E.A. & Sabanovic, A. (2013). Contouring Controller for Precise Motion Control Systems. Automatika, 54 (1), 19-27. https://doi.org/10.7305/automatika.54-1.304
MLA 8th Edition
Golubovic, Edin, et al. "Contouring Controller for Precise Motion Control Systems." Automatika, vol. 54, no. 1, 2013, pp. 19-27. https://doi.org/10.7305/automatika.54-1.304. Accessed 7 Dec. 2021.
Chicago 17th Edition
Golubovic, Edin, Eray A. Baran and Asif Sabanovic. "Contouring Controller for Precise Motion Control Systems." Automatika 54, no. 1 (2013): 19-27. https://doi.org/10.7305/automatika.54-1.304
Harvard
Golubovic, E., Baran, E.A., and Sabanovic, A. (2013). 'Contouring Controller for Precise Motion Control Systems', Automatika, 54(1), pp. 19-27. https://doi.org/10.7305/automatika.54-1.304
Vancouver
Golubovic E, Baran EA, Sabanovic A. Contouring Controller for Precise Motion Control Systems. Automatika [Internet]. 2013 [cited 2021 December 07];54(1):19-27. https://doi.org/10.7305/automatika.54-1.304
IEEE
E. Golubovic, E.A. Baran and A. Sabanovic, "Contouring Controller for Precise Motion Control Systems", Automatika, vol.54, no. 1, pp. 19-27, 2013. [Online]. https://doi.org/10.7305/automatika.54-1.304

Abstracts
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.

Keywords
Contouring Controller; Precise Motion Control Systems; Time Based Spline Interpolation; Sliding Mode Control; Elliptical Fourier descriptors; Acceleration controller

Hrčak ID: 100176

URI
https://hrcak.srce.hr/100176

[croatian]

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