Constrained Optimal Preview Control of Dual-Stage Actuators


This paper proposes constrained optimal trajectories for the preview control of dual-stage actuators (DSA). Counting on the redundancy of actuators preview management allows the first stage to move before the transition instant, and uses the secondary stage to compensate its movements. Contrasting existing ways that think about the secondary stage infinitely quick during preview control, this study takes under consideration its dynamic limitations when designing the trajectories to be followed during preactuation. It will be shown that the matter might be cast in terms of quadratic programming providing an optimal resolution with respect to a quadratic criterion. Experimental results validated the proposed strategy, that is able to attain a thirtypercent improvement over state-of-the-art high-performance DSA controllers, whereas respecting the constraints of each actuators.

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