Coordinated Motion Control of Moving Gantry Stages for Precision Applications Based on an Observer-Augmented Composite Controller

Robust control for a biaxial servo with time delay system based on adaptive tuning technique

“…Compared with the recent reported approach [5], in which the servo control loops are based on fixed gain PID control and employ P gain control (u off ) to reduce the inter-axis offset (skew error) in its disturbance approach, the approach for handling disturbance in motion control involves the disturbance observer introduced in this document. The disturbance observer based on the system plant model is limited to some unknown conditions, such as external disturbance and parameter variation in the inaccurate model, which is unaware of the coupled mechanism effect in the gantry system.…”

“…Based on this control strategy, multiaxis control systems were coupled to a multivariable control system. Much research has investigated the use of cross-coupling technology for improving the synchronization performance of two-axis motions [2][3][4][5]. The objective of this study, based on this concept, is to calculate the control action for the servomechanism by considering the skew error of all synchronizing axes [6].…”

Model-based decoupling control method for dual-drive gantry stages: A case study with experimental validations

“…A third controller, placed between the independent control-loops, is used to monitor and to compensate the desynchronization between the motors carrying the cross-arm by accelerating the slowest one and by slowing down the fastest one. The structure and/or the tuning method of this third controller can be of type optimal control (Tan, Lim, Huang, Dou, & Giam, 2004) (Hu, Yao, & Wang, 2010), iterative learning control (Van Dijk, Tinsel, & Schrijver, 2001), fuzzy logic control (Lin & Shen, 2006), or sliding mode control (Giam, Tan, & Huang, 2007) (Lin, Chou, Chen, & Lin, 2011).…”

Observer-based robust controller design and realization of a gantry stage

“…The latter has better precision than the former but it is very expansive. The most attractive features of PMLM are the absence of backlash and including high dynamic performance; however, the phenomenon of force ripples is especially evident in PMLM and the effect of friction is hard to be avoided for the stages [7].…”