Controller Synthesis of Tracking and Synchronization for Multiaxis Motion System

Abstract

Accurate motion control for multiaxis motion systems is an important issue for manufacturing industry. In this brief, an adaptive robust control scheme is implemented to synthesize the compensator for tracking and synchronization with the consideration of cross-coupling dynamics among different axes. By using the adaptive strategies, the asymptotic convergence of both tracking and synchronization errors are achieved. The robust control scheme also guarantees the transient performance, tracking errors, and synchronization errors. Experimental results of a three-axis motion system that include system uncertainties and nonlinearity are also illustrated to verify the effectiveness of the proposed approach for different scenarios. The results indicate excellent transient performance as well as both tracking and synchronization accuracies.

An Efficient Algorithm for the Real-Time Generation of Synchronous Reference Signals

“…Others, for example the one proposed in [38], obtain better performances by exploiting the system dynamics to synthesize the control loop, while further ones -see for example [39] -use adaptive techniques for the synchronization of multi-robot systems. All these aspects have been simultaneously taken into consideration in [40], where the proposed controller is adaptive and robust, it accounts for mutual interferences between axes and, finally, shows optimal performances even during transients. Interested readers are addressed to the existing literature for further details.…”

Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems

“…With this structure, the robustness of speed of each axis against disturbances and synchronization errors is guaranteed. A framework of adaptive control laws using a backstepping procedure has been proposed by Cheng et al [13][14][15] to control a multiaxis motion system. With their proposed LQ and adaptive controllers, both tracking and synchronization performance can be achieved.…”

Speed tracking and synchronization of multiple motors using ring coupling control and adaptive sliding mode control

“…In order to get the reference signal of motor, the system input needs passing through the virtual axis in the virtualshaft control method, which makes motor's reference signal and the system input signal are not necessarily equal [11]. The crosscoupled control strategy is initially proposed and successfully applied to computer numerical control (CNC) biaxis motion control by Koren [5,12]. Nonetheless, Ref.…”