Abstract
A receding time horizon linear quadratic optimal control approach is formulated for multi-axis contour tracking problem. The approach employs a performance index with fixed weights on quadratic contouring error, tracking error, and control input over a future finite horizon. The problem is then cast into a standard receding horizon LQ problem with time varying weighting matrices, which are functions of the future contour trajectory within the horizon. The formulation thus leads to a solution of time varying state feedback and finite preview gains. Stability is proven for the linear trajectory case. Experimental and simulated results for an X-Y motion control problem are presented, which demonstrate the effectiveness of the control scheme and the effects of the key controller design parameters. [S0022-0434(00)01202-8]
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