Coordinated Adaptive Robust Contouring Controller Design for an Industrial Biaxial Precision Gantry
- 17 November 2009
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE/ASME Transactions on Mechatronics
- Vol. 15 (5), 728-735
- https://doi.org/10.1109/tmech.2009.2032292
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
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