A decoupled path-following control algorithm based upon the decomposed trajectory error

This paper proposes a new path-following control algorithm for the machine tool servo systems. The control system first decomposes the contouring error into the normal tracking error and the advancing tangential error. A dynamic decoupling procedure is then applied to the system dynamics. Finally, a dynamic decoupled controller is proposed to compensate the decomposed tangential and the normal tracking errors. The normal control minimizes the perpendicular tracking error while the tangential control maintains a desired feed rate. The proposed method is applied to the control of an experimental x–y table. Experimental results show that the proposed control can achieve good tracking and trajectory following characteristics. The new algorithm also enables the design of a non-overshooting controller along the path. This will result in a no-overcutting process for the machine tool operation.