New dataset obtained from 2D positioning system with distributed control

The dataset contains the obtained trajectory (encoder measurements) of the 2D positioning system, as well as the reference (commanded) trajectory. The control task is distributed to the low-level controllers for x and y axes synchronized using IEEE 1588 Precision Time Protocol (PTP), where the movement of the axes is realized based on the data that the low-level controllers receive from the high-level controller. The dataset includes 60 signals (30 measurements for x and y axis) that represent obtained trajectories and 2 signals (x and y axes) that represent commanded trajectory, where the length of each signal is 61,000 samples. The system was designed and built by the Cyber-Physical Systems Lab at the Pratt School of Engineering, Duke University, where it is located. Table 1 shows the list of collected signals, whereas a detailed description of the system can be found in [1]. For more information, see [2, 3].