Efficient waypoint tracking hybrid controllers for double integrators using classical time optimal control

This paper is a response to requests from several respected colleagues in academia for a careful writeup of the classical time-optimal control based hybrid controllers that we have been using for material transport control in our modular reconfigurable manufacturing systems application. Specifically, we show how classical closed form time optimal control, which exploits the special structure of double integrator systems (ie ones with point-mass Newton's Law dynamics) can be used to design hybrid controllers for waypoint tracking. While double integrator dynamics are very simple, they are extremely prevalent in many domains, beyond manufacturing systems, eg, transportation, disk drives, robotics, and aerospace. We present two methods, one which will track general way point specs, and another which will track waypoints that lie on convex or concave trajectories. Both approaches are based on appropriate setting (switching) of the state of a reference generator with the same point mas...

• Type: Conference
• Year: 2008
• Where: CDC
• Authors: Haitham A. Hindi, Lara S. Crawford, Rong Zhou, Craig Eldershaw
• Keywords: CDC 2008, Control Systems, Double Integrator, Manufacturing Systems, Modular Reconfigurable