Title :
On coordination of multiaxis system mouvement using sliding mode control
Author :
Hatem, T. ; Mohamed, B.
Author_Institution :
Dept. Electr. Eng., High Inst. of Sci. & Technol., Gafsa, Tunisia
Abstract :
This paper aims to present a motion coordination control approach for multi-axe machine, using a new curvilinear task coordinate frame that is attached to the desired contour. By transforming the machine dynamic model to this task coordinate frame, a sliding mode control is derived to improve the contouring performance under bounded disturbances. The effectiveness of the proposed control law is demonstrated through the drawing of a circle profile.
Keywords :
machine control; motion control; variable structure systems; bounded disturbance; curvilinear task coordinate frame; machine dynamic model; motion coordination control approach; multi axe machine; multiaxis system movement; sliding mode control; task coordinate frame; Actuators; Equations; Mathematical model; Motion control; Permanent magnet motors; Sliding mode control; Synchronization; motion coordination; sliding mode control; stepper motor;
Conference_Titel :
Communications, Computing and Control Applications (CCCA), 2011 International Conference on
Conference_Location :
Hammamet
Print_ISBN :
978-1-4244-9795-9
DOI :
10.1109/CCCA.2011.6031541
