document: Fractional motion control : application to an XY cutting table In path tracking design , the dynamic of actuators must be taken into account in order to reduce overshoots appearing for small displacements . A new approach to path tracking using fractional differentiation is proposed with its application on a XY cutting table . It permits the generation of optimal movement reference-input leading to a minimum path completion time , taking into account both maximum velocity , acceleration and torque and the bandwidth of the closed-loop system . Fractional differentiation is used here through a Davidson-Cole filter . A methodology aiming at improving the accuracy especially on checkpoints is presented . The reference-input obtained is compared with spline function . Both are applied to an XY cutting table model and actuator outputs compared
doc_bio_tags: B I I O O O O B I I O B I I O O O O B O O O O O O O O O O O O O O O O O O O O O O B I O O O O O O O B I I O O O O O O O O O O O O B I I I O O O O O O O O O O O O O O O O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O B I O O O O O O B I I O O O O O
extractive_keyphrases: fractional motion control xy cutting table path tracking design actuators fractional differentiation minimum path completion time spline function
abstractive_keyphrases: closed-loop system davidson-cole filter optimization