A receding time horizon linear quadratic optimal control approach is formulated for multi-axis contour tracking problem. The approach employs a performance index with fixed weights on quadratic contouring error, tracking error, and control input over a future finite horizon. The problem is then cast into a standard receding horizon LQ problem with time varying weighting matrices, which are functions of the future contour trajectory within the horizon. The formulation thus leads to a solution of time varying state feedback and finite preview gains. Stability is proven for the linear trajectory case. Experimental and simulated results for an motion control problem are presented, which demonstrate the effectiveness of the control scheme and the effects of the key controller design parameters. [S0022-0434(00)01202-8]
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