Control Allocation for an Industrial High-Precision Transportation and Positioning System

We present a control allocation framework to improve the performance of an industrial high-precision translational transportation and positioning system based on an inverted permanent-magnet linear synchronous motor. Compared to the state-of-practice control solution, the proposed allocation technique achieves enhanced tracking performance and enlarged motion freedom, minimizes power consumption, and realizes relaxed hardware design specifications. A decentralized allocation algorithm is presented, which enhances the computational efficiency and facilitates the scalability to larger system configurations. The performance benefits of the proposed technique are illustrated by means of an experimental case study.