Constrained Receding Horizon Contouring Error Control for a Feed Drive System

I0635. The tracking error model is formed based on the desired curve and the orthogonal error is regarded as an approximation of real contouring error. The control policy is derived from the optimization of a quadratic cost function, which penalizes future errors and control variables in each sampling time over a finite horizon. The performance of the proposed algorithm is verified via the computer simulations with a predefined trajectory. The result shows the improvement of tracking accuracy by comparing with unconstrained method.