Performance-based Trajectory Optimization for Path Following Control Using Bayesian Optimization

Alisa Rupenyan, Mohammad Khosravi, John Lygeros

Abstract: Accurate positioning and fast traversal times determine the productivity in machining applications. This paper demonstrates a hierarchical contour control implementation for the increase of productivity in positioning systems. The high-level controller pre-optimizes the input to a low level cascade controller, using a contouring predictive control approach. This control structure requires tuning of multiple parameters. We propose a sample-efficient joint tuning algorithm, where the performance metrics associated with the full geometry traversal are modelled as Gaussian processes and used to form the global cost and the constraints in a constrained Bayesian optimization algorithm. This approach enables the trade-off between fast traversal, high tracking accuracy, and suppression of vibrations in the system. The performance improvement is evaluated numerically when tuning different combinations of parameters. We demonstrate that jointly tuning the parameters of the contour- and the low level controller achieves the best performance in terms of time, tracking accuracy, and minimization of the vibrations in the system.