Title :
Coordinated Adaptive Robust Contouring Controller Design for an Industrial Biaxial Precision Gantry
Author :
Hu, Chuxiong ; Yao, Bin ; Wang, Qingfeng
Author_Institution :
State Key Lab. of Fluid Power Transm. & Control, Zhejiang Univ., Hangzhou, China
Abstract :
To achieve excellent contouring performance, it is no longer possible to neglect dynamic coupling phenomena that occur during contouring controls, especially for a linear-motor-driven industrial biaxial precision gantry, which often moves at high speeds. In addition, effects of significant parametric uncertainties and uncertain nonlinearities need to be addressed carefully. In this paper, a discontinuous-projection-based adaptive robust controller that explicitly takes into account the dynamic coupling effect is developed for the high-performance contouring controls of linear-motor-driven high-speed/acceleration systems under various parametric uncertainties and uncertain nonlinearities. Theoretically, the resulting controllers achieve certain guaranteed transient performance and steady-state tracking accuracy. In addition, asymptotic output tracking is achieved under parametric uncertainties only. Comparative experimental results are obtained for a linear-motor-driven biaxial high-speed industrial gantry. The results verify the excellent contouring performance of the proposed schemes, even in the presence of parametric uncertainties and uncertain nonlinearities.
Keywords :
adaptive control; control nonlinearities; control system synthesis; cranes; linear motors; motion control; robust control; transient response; uncertain systems; asymptotic output tracking; contouring performance; coordinated adaptive robust contouring controller design; discontinuous-projection-based adaptive robust controller; dynamic coupling effect; linear-motor-driven high-speed acceleration system; linear-motor-driven industrial biaxial precision gantry; parametric uncertainty; steady-state tracking accuracy; transient performance; uncertain nonlinearities; Adaptive control; contouring; coordinated control; linear motor; task coordinates;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/TMECH.2009.2032292