Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage

Jung, Hanul; Oh, Sehoon

doi:10.1109/isie.2019.8781500

Cited by 4 publications

(2 citation statements)

References 7 publications

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“…Recent research on gantry robots, such as literature [27], discusses the synchronous control based on fuzzy single neuron PID cross-coupling controller, literature [28] discusses the suppression of the rotational motion of cross-coupled gantry stage and literature [29] proposes a new algorithm to identify the parameters of the synchronous dual-drive ball screw gantry system. This paper proposes the development and application of gantry robots with MRAC and FNN online compensators.…”

Section: The Structure and Mathematical Model Of The Gantry Robot Systemmentioning

confidence: 99%

Model Reference Adaptive Control and Fuzzy Neural Network Synchronous Motion Compensator for Gantry Robots

Chen

2021

Energies

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A model reference adaptive control and fuzzy neural network (FNN) synchronous motion compensator for a gantry robot is presented in this paper. This paper proposes the development and application of gantry robots with MRAC and FNN online compensators. First, we propose a model reference adaptive controller (MRAC) under the cascade control method to make the reference model close to the real model and reduce tracking errors for the single axis. Then, a fuzzy neural network compensator for the gantry robot is proposed to compensate for the synchronous errors between the dual servo motors to improve precise movement. In addition, an online parameter training method is proposed to adjust the parameters of the FNN. Finally, the experimental results show that the proposed method improves the synchronous errors of the gantry robot and demonstrates the methodology in this paper. This study also successfully integrates the hardware and successfully verifies the proposed methods.

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Section: The Structure and Mathematical Model Of The Gantry Robot Systemmentioning

confidence: 99%

Model Reference Adaptive Control and Fuzzy Neural Network Synchronous Motion Compensator for Gantry Robots

Chen

2021

Energies

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“…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%

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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RBF Neural Network-Based Adaptive Robust Synchronization Control of Dual Drive Gantry Stage With Rotational Coupling Dynamics

Shi

Sun

Yang

2023

IEEE Trans. Automat. Sci. Eng.

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Disturbance Observer Based Decoupling Control to Suppress Rotational Motion of Cross-coupled Gantry Stage

Cited by 4 publications

References 7 publications

Model Reference Adaptive Control and Fuzzy Neural Network Synchronous Motion Compensator for Gantry Robots

Model Reference Adaptive Control and Fuzzy Neural Network Synchronous Motion Compensator for Gantry Robots

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

RBF Neural Network-Based Adaptive Robust Synchronization Control of Dual Drive Gantry Stage With Rotational Coupling Dynamics

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