Fractional Motion Control: Application to an XY Cutting Table

In path tracking design, the dynamic of actuators must be taken intoaccount in order to reduce overshoots appearing for small displacements.A new approach to path tracking using fractional differentiation isproposed with its application on a XY cutting table. It permits thegeneration of optimal movement reference-input leading to a minimum pathcompletion time, taking into account both maximum velocity, accelerationand torque and the bandwidth of the closed-loop system. Fractionaldifferentiation is used here through a Davidson–Cole filter. Amethodology aiming at improving the accuracy especially on checkpointsis presented. The reference-input obtained is compared with splinefunction. Both are applied to an XY cutting table model and actuatoroutputs compared.