Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage

Wang, Wenxin; Ma, Jun; Cheng, Zilong; Li, Xiaocong; Mamun, Abdullah Al; Lee, Tong Heng

doi:10.1109/icit46573.2021.9453472

Cited by 3 publications

(3 citation statements)

References 19 publications

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“…Dual drive gantry cranes can achieve high torque and high precision in tasks' execution [32][33][34]. The cross-beam serves also as support to a third linear motor carrying a load [35][36][37][38]. There is need for precise synchronization between the two parallel motors and for minimization of internal forces [39][40][41][42].…”

Section: Introductionmentioning

confidence: 99%

Flatness-Based Control in Successive Loops of an H-Type Gantry Crane with Dual PMLSM

Rigatos,

Siano,

AL-Numay

et al. 2024

J. Vib. Eng. Technol.

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Gantry cranes of the H-type with dual electric-motor actuation are widely used in industry. In this article the control problem of an H-type gantry crane which is driven by a pair of linear permanent magnet synchronous motors is considered. The integrated system that comprises the H-type gantry crane and its two PMLSMs is shown to be differentially flat. The control problem for this robotic system is solved with the use of a flatness-based control approach which is implemented in successive loops. To apply flatness-based control in successive loops, the state-space model of the H-type gantry crane with dual PMLSM is separated into subsystems, which are connected in cascading loops. Each one of these subsystems can be viewed independently as a differentially flat system and control about it can be performed with inversion of its dynamics as in the case of input-output linearized flat systems. The state variables of the preceding (i-th) subsystem become virtual control inputs for the subsequent (i+1-th) subsystem. In turn, exogenous control inputs are applied to the last subsystem. The whole control method is implemented in successive loops and its global stability properties are also proven through Lyapunov stability analysis. The proposed method achieves stabilization of the H-type gantry crane with dual PMLSM without the need of diffeomorphisms and complicated state-space model transformations.

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Section: Introductionmentioning

confidence: 99%

Flatness-Based Control in Successive Loops of an H-Type Gantry Crane with Dual PMLSM

Rigatos,

Siano,

AL-Numay

et al. 2024

J. Vib. Eng. Technol.

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“…The gantry high performance motion system is widely applied in semiconductor equipment [1], CNC machine [2], laser cutting machine [3], medical equipment [4], etc. Its advantages are large stroke, large driving force, high load and high bandwidth.…”

Section: Introductionmentioning

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%

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

Wang

Cheng

et al. 2021

IECON 2021 – 47th Annual Conference of the IEEE Industrial Electronics Society

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Generalized Iterative Super-Twisting Sliding Mode Control: A Case Study on Flexure-Joint Dual-Drive H-Gantry Stage

Cited by 3 publications

References 19 publications

Flatness-Based Control in Successive Loops of an H-Type Gantry Crane with Dual PMLSM

Flatness-Based Control in Successive Loops of an H-Type Gantry Crane with Dual PMLSM

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

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

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