Two-Dimensional Proximate Time-Optimal Servomechanism

Abstract

This paper focuses on the development of a proximate time optimal control method for two-dimensional rigid body systems, eg. XY positioning tables. Our approach is based on the traditional proximate time-optimal servomechanism (PTOS), which starts with a near-time-optimal non-linear controller and then switches to a linear controller as the system output approaches the desired target. This work proposes to expand the PTOS, a unidirectional control law to two-dimensional systems, in order to perform linear point to point trajectories in minimum time.