Receding horizon reference governor
US10860002B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Mar 19, 2018 |
| Grant date | Dec 8, 2020 |
| Priority date | — |
| Expiry date | Jul 5, 2038 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45041
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A control system for controlling an operation of a processing machine positioning a worktool according to a processing pattern to machine a workpiece. A memory to store a reference trajectory defined in a spatial domain by a sequence of points for positioning the worktool and defined in a time domain by a relative time for positioning the worktool on each point of the reference trajectory. A sensor to determine a state of the processing machine. A reference governor to iteratively process the reference trajectory over a receding horizon including multiple windows of points, and analytically update the relative time for positioning the worktool for some points of the reference trajectory within the receding horizon to satisfy constraints on the operation of the processing machine having the state. A controller to control the operation of the processing machine using control inputs causing the worktool to track the updated reference trajectory.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.