Gain scheduling controller design for cross-coupled contour motion systems

Contour motion control is one of the important topics in motion control research, which has been widely applied in motion control tasks in manufacturing and other automation systems. Much effort, such as cross-coupled control (CCC), has recently focused on improving contouring accuracy. Also, gain scheduling based on operating conditions is often a good way to compensate for variations in parameters or known nonlinearities of the plant. It is a very useful technique for reducing the effects of parameters variations. In this paper, a new gain scheduling optimum CCC-PID controller design methods, which adopts the known contour auxiliary information related to the time-varying gains, are proposed. Simulation results show that the controller proposed decreases contouring error obviously and better performance of contour motion is achieved.