In this paper, a new approach of motion coordination of two axes systems in the presence of actuator saturation is proposed. The proposed approach includes two parts: feedback controller and on-line trajectory planning. The feedback controller is designed using an anti-windup design to reduce the degradation in performance of each axis when saturation occurs. An on-line trajectory planning algorithm is also proposed to maintain the contouring accuracy during saturation periods. The desired outputs for X- and Y-axis are given as sequences of points. When the actuator of any axis is predicted to saturate, an appropriate number of points are inserted in the original sequence to slow down the motion. The effectiveness of the proposed approach is studied by simulation of a two-axis Cartesian positioning system.
On-Line Trajectory Planning for Aerial Vehicles: A Safe Approach with Guaranteed Task Completion