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In this research, a path-following control system design for a path consist of sequence of points is proposed. To interpolating the points, a smooth path is made from the points as a polynomial curve. Non-inertial coordinate system is constructed that the origin is a reference point on the smooth path and axes are tangential and normal direction on the reference point. Movement of the reference point relates to a reference speed and a tangential component of the non-inertial coordinate. In order to implementing path-following, tracking control is achieved of a moving object to the reference point. Effectiveness of the proposed design is validated by control experiments with a boll and plate experimental system.

Path Following Control for a Reference Path Consists of a Sequence of Points and an Application to a Boll & Plate System