Motion controller design for contour-following tasks based on real-time contour error estimation

Ming Yang Cheng, Cheng Chien Lee

Research output: Contribution to journalArticlepeer-review

183 Citations (Scopus)


Reduction of contour error is an important issue in contour-following applications. One of the common approaches to this problem is to design a controller based on contour error information. However, for the free-form contour-following tasks, there is a lack of effective algorithms for calculating contour errors in real time. To deal with this problem, this paper proposes a real-time contour error estimation algorithm. In addition, a motion control scheme that combines a position loop controller (which utilizes a velocity command feedforward) with a tangential-contouring controller (TCC) is employed to improve the contour-following accuracy. When implementing the TCC, a coordinate transformation matrix is needed. Unfortunately, it is difficult to calculate the coordinate transformation matrix when performing the free-form contour-following task. To overcome this difficulty and facilitate the use of contour controllers, a systematic approach is employed to derive the coordinate transformation matrix for the free-form contour-following tasks. Experimental results demonstrate the effectiveness of the proposed contour error estimation algorithm and the motion control scheme.

Original languageEnglish
Pages (from-to)1686-1695
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Issue number3
Publication statusPublished - 2007 Jun

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


Dive into the research topics of 'Motion controller design for contour-following tasks based on real-time contour error estimation'. Together they form a unique fingerprint.

Cite this