Novel approach for trajectory planning in laser material processing: constrained dual-stage system using model predictive and sliding mode control *

Dual-stage systems find extensive use in the manufacturing sector due to their ability to enable more precise, reliable, and rapid production processes. Laser material processing stands out as a relevant field employing such redundant combinations. This article outlines a new algorithm designed for planning the trajectories of dual stage positioning systems for laser applications utilizing a combination of model predictive and sliding mode control. In comparison to other techniques found in literature, the method presented here offers the advantage of generating feasible trajectories by explicitly considering the kinematic constraints of each actuator. Additionally, this research describes a technique for automatically tuning the parameters of the model predictive problem, aiming to enhance the feed rate of the laser processing. Finally, the approach is validated experimentally showing an improvement of 69.2% in feed rate compared to state of the art.