Adaptive parameter and gain RISE control of a flexure-based dual-drive ‘H’ gantry

Kamaldin, Nazir; Chen, Silu; Kong, Chun Jeng; Teo, Chek Sing; Tan, Kok Kiong

doi:10.1109/aim.2016.7576940

Cited by 8 publications

(3 citation statements)

References 7 publications

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“…Other researches on the coupling effects can mainly be concluded into two categories. The first one is the coupling modeling of the entire system [10][11][12][13], in which a three-degree-of-freedom (3DOF) modeling is usually presented, i.e., the linear motions of X-axis and Y-axis and the rotational motion of the crossbeam. Although certain coupling effects can be explained by those models, inherent conflicts between the handing of physical constraints and the generation of rotational motion still exist, leading to the doubts about the correctness of those work.…”

Section: Introductionmentioning

confidence: 99%

“…Although certain coupling effects can be explained by those models, inherent conflicts between the handing of physical constraints and the generation of rotational motion still exist, leading to the doubts about the correctness of those work. For example, as in [12][13], under the assumption of pure rotational flexible joints, the rotation of the rigid crossbeam essentially can not be generated. The second type is only focusing on the subsystem with dual-driven structure [14][15].…”

Section: Introductionmentioning

confidence: 99%

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Accurate physical modeling and synchronization control of dual-linear-motor-driven gantry with dynamic load

Chen

Yang

et al. 2020

Preprint

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To achieve high-accuracy tracking of dual-linear-motor-driven (DLMD) gantry, high-level synchronization between redundant actuators is a nonnegligible factor and also a difficult issue to be solved prior. Especially, when both XY axes are simultaneously operating to accomplish complex tasks efficiently, additional coupling effects will be generated by the dynamic load presented on the crossbeam, which makes the synchronization issue more complicated compared to the case with static load. However, due to the absence of an accurate model to fully reveal the complete coupling characteristics, existing approaches to this issue still have inherent limitations. Therefore, this paper focuses on the systematic physical modeling and synchronization control of DLMD gantry with a dynamic load presented on the crossbeam. A complete coupling mathematical model is established firstly, by fully considering two linear motions (X-axis and Y-axis) and also including the additional rotational motion of the crossbeam. Built upon the effective model information, corresponding solutions by compensating the dynamic load effects and actively controlling the rotational dynamic to regulate the internal forces have been proposed, leading to a novel adaptive robust synchronization control method. Comparative experiments are carried out, and the results show the effectiveness and superiority of the proposed method in dealing with synchronization issue subjected to dynamic load effects.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Accurate physical modeling and synchronization control of dual-linear-motor-driven gantry with dynamic load

Chen

Yang

et al. 2020

Preprint

View full text Add to dashboard Cite

show abstract

“…Moreover, some research works have been proposed and experimented in the literature based on the adaptation algorithms for the gains of RISE control or for the system parameters. In (Kamaldin, Chen, Kong, Teo, & Tan, 2016), a gain-adaptive RISE feedback strategy was implemented on a dual-drive gantry, and the results had shown improvement of the proposed controller against the conventional RISE controller. Model-based adaptive control laws with RISE feedback have been proposed and applied to different platforms such as hydraulic load simulator (Luo, Yao, Chen, Li, & Xu, 2017;Yao, Deng, & Jiao, 2017) and a parallel robot Delta (Bennehar, Chemori, Bouri, Jenni, & Pierrot, 2017).…”

Section: Introductionmentioning

confidence: 99%

A new time-varying feedback RISE control for second-order nonlinear MIMO systems: theory and experiments

Saied

Chemori

Bouri

et al. 2019

International Journal of Control

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This study focuses on the development of a new class of the Robust Integral of the Sign of the Error (RISE) control law adequate for second-order nonlinear multiinput-multi-output systems. A revisit for the original RISE is done by altering some static feedback gains into time-varying nonlinear ones depending on the system states. The proposed controller takes advantage of both RISE control robustness towards uncertainties and the special behavior of nonlinear feedback gains towards time-varied parameters. A Lyaponuv-based stability analysis to prove the semiglobal asymptotic tracking of the proposed new controller is included. In order to validate the relevance of the proposed controller, real-time experimental results are presented and discussed. Experiments have been conducted on a Delta parallel manipulator, in different operating conditions including payload and speed variations.

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A novel robust, continuous, PID-assisted control for precision tracking of flexible systems a case study on timing belts

Kamaldin

Chen

et al. 2017

2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM)

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Adaptive parameter and gain RISE control of a flexure-based dual-drive ‘H’ gantry

Cited by 8 publications

References 7 publications

Accurate physical modeling and synchronization control of dual-linear-motor-driven gantry with dynamic load

Accurate physical modeling and synchronization control of dual-linear-motor-driven gantry with dynamic load

A new time-varying feedback RISE control for second-order nonlinear MIMO systems: theory and experiments

A novel robust, continuous, PID-assisted control for precision tracking of flexible systems a case study on timing belts

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