An efficient processor-based online generation of time-optimal trajectories Academic Article

abstract

• We present a novel method to online generation of time-optimal acceleration, velocity, and position trajectory values for servo-control systems using low-cost fixed-point processors with no on-chip multipliers. As in the case of many product designs, reducing system cost is a key constraint in our method. We address this constraint by optimizing required memory size, computational time, and introducing multiplication-free recursive algorithms most suitable for real-time implementation on low-cost microcontrollers. An efficient search algorithm is presented optimizing the trajectories with respect to total move time for any distance subject to physical constraints of the system. We also introduce a normalized set of first-order difference equations using only integer arithmetic and additions to compute the trajectory values. Complexity of the proposed method is compared with multiplication-based and lookup table methods using three popular microcontrollers with and without an on-chip hardware multiplier. 2006 IEEE.

authors

• Toliyat, Hamid

published proceedings

• IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY

author list (cited authors)

• Panahi, I., & Toliyat, H. A.

citation count

• 13

complete list of authors

• Panahi, Issa MS||Toliyat, Hamid A

publication date

• September 2006

publisher

• Institute of Electrical and Electronics Engineers (IEEE)  Publisher

published in

• IEEE Transactions on Control Systems Technology  Journal

keywords

• Multiplication-free Operation
• Online-optimal Trajectory Generation
• Position Control
• Processor-based Design
• Real-time Systems
• Recursive Algorithm
• Robot-servo Control Systems
• Time-optimal Control

Digital Object Identifier (DOI)

• 10.1109/TCST.2006.876935

start page

• 966

end page

• 973

volume

• 14

issue

• 5

URL

• http%3A%2F%2Fdx.doi.org%2F10.1109%2Ftcst.2006.876935