LMI-based position command design of table systems considering compensation for impact force and interference

This paper presents a position command design methodology for table drive systems utilizing for a contact operation. In high performance mechatronic systems utilizing for contact operations such as picking up and/or placing on materials, force control is strongly requested to prevent a damage of materials due to impact force. Moreover interference force from other axis deteriorates position control performance. In this paper, the stability condition of the impact force and interference force are clarified, and the linear matrix inequality (LMI) design framework is applied to improve the control performance, where the position command of the system is theoretically designed under the constraints against the impact force and interference. The effectiveness of the proposed design has been verified by experiments using a prototype.