Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
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Path Following Control for a Reference Path Consists of a Sequence of Points and an Application to a Boll & Plate System
Kazuki UmemotoTadashi Egami
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2016 Volume 29 Issue 3 Pages 143-151

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Abstract

In this research, a path-following control system design for a path consist of sequence of points is proposed. To interpolating the points, a smooth path is made from the points as a polynomial curve. Non-inertial coordinate system is constructed that the origin is a reference point on the smooth path and axes are tangential and normal direction on the reference point. Movement of the reference point relates to a reference speed and a tangential component of the non-inertial coordinate. In order to implementing path-following, tracking control is achieved of a moving object to the reference point. Effectiveness of the proposed design is validated by control experiments with a boll and plate experimental system.

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© 2016 The Institute of Systems, Control and Information Engineers
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