Adaptive Iterative Sliding Mode Control: Development, Synthesis, and Application of a Flexure-Joint Biaxial Gantry Stage

Wang, Wenxin; Ma, Jun; Cheng, Zilong; Zhang, Xiaoxue; Chen, Xiaolong; Li, Xiaocong; Lee, Tong Heng

doi:10.1109/iecon48115.2021.9589121

Cited by 1 publication

(2 citation statements)

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“…It can be seen from formula (3)(4)(5)(6)(7)(8)(9)(10)(11)(12)(13)(14) that if the tracking error e is reduced to zero, F = G , the design principle of the feedforward controller F is to approximate the inverse of the controlled object model as much as possible.…”

Section: -Dof Control Term In 2-dof Mimo Decoupling Controllermentioning

confidence: 99%

“…When Cross-coupling control structure [11] controlling the movement of a certain axis, the influence of other axes is introduced into the control loop of this axis, and then the mutual motion of each axis is coordinated to achieve the effect of synchronization, and then the The synchronous control performance of the two parallel linear motors has been greatly improved in the gantry high performance motion system. Therefore, at this stage, the design of controllers is more concerned with the introduction of advanced control algorithms such as adaptive control [12,13,14], sliding mode control [15,16], disturbance observer [17,18] based on the crosscoupled control structure, to solve the influence of system parameter uncertainty and uncertain nonlinearity in the crosscoupling control structure.…”

Section: Introductionmentioning

confidence: 99%

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2-DOF MIMO decoupling control of the gantry high performance motion system

Zhang

Ding

Liu

et al. 2022

Fifth International Conference on Mechatronics and Computer Technology Engineering (MCTE 2022)

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The gantry high performance motion system is widely used in many high-precision servo motion scenarios. In this paper, a two-degree-of-freedom MIMO decoupling control strategy is proposed. In this strategy, a MIMO decoupling matrix is designed in a targeted manner, and a two-degree-of-freedom control structure composed of acceleration feedforward and closed-loop feedback control is used to suppress various disturbances, and then the motion coordination control of the motion stage is carried out from a global perspective. Finally, the effectiveness of the control strategy is verified by the actual test of the fourth-order setpoint trajectory tracking, and the performance is compared with the general cross-coupling control strategy. The results show that the root mean square value of the tracking error and the maximum absolute value of the tracking error in the combined test of the X, Y direction and the YX axis of the gantry high performance motion system have been effectively improved.

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