Adaptive Iterative Learning Constrained Control for Linear Motor-Driven Gantry Stage with Fault-Tolerant Non-Repetitive Trajectory Tracking

Abstract

This article introduces an adaptive fault-tolerant control method for non-repetitive trajectory tracking of linear motor-driven gantry platforms under state constraints. It provides a comprehensive solution to real-world issues involving state constraints and actuator failures in gantry platforms, alleviating the challenges associated with precise modeling. Through the integration of iterative learning and backstepping cooperative design, this method achieves system stability without requiring a priori knowledge of system dynamic models or parameters. Leveraging a barrier composite energy function, the proposed controller can effectively regulate the stability of the controlled system, even when operating under state constraints. Instability issues caused by actuator failures are properly addressed, thereby enhancing controller robustness. The design of a trajectory correction function further extends applicability. Experimental validation on a linear motor-driven gantry platform serves as empirical evidence of the effectiveness of the proposed method.