Trajectory Planning Based Precise Positioning Control of an X-Y Platform

CSME 2026/02
Volume 47 No.1 : 17-25

Trajectory Planning Based Precise Positioning Control of an X-Y Platform

Haris Khan ^a, Hsiu-Ming Wu ^b and Chung-Wei Chen ^a
^aGraduate Student, Institute of Mechatronic Engineering, National Taipei University of Technology, Taipei, Taiwan 10608, ROC.
^bAssociate Professor, Department of Intelligent Automation Engineering, National Taipei University of Technology, Taipei, Taiwan 10608, ROC.

Abstract: The study aims to attain precise positioning control of an X-Y platform. Here, square and circular motion trajectories with a trapezoidal velocity profile are planned. Subsequently, decentralized PID controllers are designed to track the predefined reference trajectories. The corresponding experiments are conducted to validate the effectiveness and feasibility of the proposed control scheme. In terms of the experimental results, the average positioning error is smaller than 0.0164 mm in the square trajectory and 0.02265 mm for the circular trajectory. It is evident that the system demonstrates satisfactory control performance despite suffering the saturation effect or a sudden disturbance.

Keywords:

Download PDF

TOP