Lyapunov approach for motion synchronization of a two-slider system

Dou, Haibin

doi:10.1177/0142331219847727

Cited by 6 publications

(6 citation statements)

References 26 publications

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“…where  , EI and l are the uniform linear mass density, uniform flexural rigidity and length respectively, 1 () xt and 2 () xt are the positions of two sliders respectively, ( , ) xt  and ( , ) EI l t  represent the shear force at end 0 and end l respectively. In [14] and [29] the dynamics of sliders are not considered. Here consider the following dynamics of sliders as 1) and (2), the whole system models are as follows…”

Section: System Dynamicsmentioning

confidence: 99%

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Robust synchronization motion tracking control for a two-slider system restrained by a flexible beam

Dou

2022

Preprint

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This paper addresses the robust sync tracking control problem for a two-slider system where the motion of two sliders is restrained by a flexible beam. The system models are given at first. In the proposed models the dynamics of actuators are also considered. With employment of the models a novel variable gain sliding mode interval observer is proposed to estimate the external disturbances while reducing the system chattering caused by the conservative fixed gain. Then a tracking controller and an output restriction boundary controller for two sliders are designed. The tracking controller is used to tracking the desired trajectory and the output restriction boundary controller is used to restrict the deformation of the beam. The whole systems with the proposed controller are proved to be asymptotically stable by using traditional backstepping technology. Finally, numerical simulations illustrate that the proposed method are more effective compared with the existing method.

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Section: System Dynamicsmentioning

confidence: 99%

“…1() ft and 2() ft in Fig.1are the interaction forces between sliders and beam. From our previous work[14] and[29], the models of two-slider system can be described as…”

mentioning

confidence: 99%

Robust synchronization motion tracking control for a two-slider system restrained by a flexible beam

Dou

2022

Preprint

Self Cite

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“…The Lyapunov approach for synchronization of a twoslider system is discussed in [1] with a nonlinear force coupling model as a basis for the control design. The robust synchronization controller is discussed in [2].…”

Section: Introductionmentioning

confidence: 99%

Uncertain Systems Motion Synchronization

Džakmić,

Ramdedović,

Šabanović

2023

IEEE Access

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In the operation of large-scale manufacturing equipment, accurate tracking of the desired trajectory and overall motion synchronizations are the keys to ensuring the products' high quality. These multi-axis plants are highly coupled nonlinear systems with a range of uncertainties (parametric uncertainties, unmodelled dynamics, cross-coupling between axes, and external disturbances). That makes the control design for such systems a challenging task. In this paper, a Lyapunov-based design for motion tracking and/or cross-coupling synchronization control for multi-axis systems is proposed. The aim is to develop a general framework for the design of motion tracking and/or cross-coupling synchronization. The proposed design is based on a specific structure of the generalized control error and design of control which enforces a predefined form of the Lyapunov function time derivative. The structure of the generalized error allows the application of the same controller design procedure for motion tracking and/or cross-coupled synchronization control in either configuration or operation space. In the proposed design compensation of uncertainties and the convergence of the generalized error are treated separately. The compensation for the uncertainties is realized by the application of an unknown input observer within the controller structure. That yields efficient compensation of the projection of the system uncertainties to the generalized error. In ensuring the desired convergence and stability the Lyapunov function time derivative is used as a design parameter. It could be selected so that closed-loop dynamics exhibits asymptotic or finite-time convergence. The proposed design results in a simple easy-to-implement controller structure with a small number of design parameters. The details of the design procedure and the proposed controller are evaluated in simulation and experiments for a coupled 4-axis system.

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“…Motion control system, which plays as an important role in the modern industry such as Computed Numerically Controlled (CNC) machine tools [1][2][3][4] and industrial robots, determines the whole system performance. For the demand for high reliability and high real-time manufacturing, modern motion control systems are growing in the direction of high speed, high precision, multifunctional, and opening that needs embedded and networked technique to implement.…”

Section: Introductionmentioning

confidence: 99%

Control and Implementation of Positioning System with Symmetrical Topology for Precision Manufacturing

Truong

Ngo

2022

Mathematical Problems in Engineering

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In recent years, the needs of modularized controller for the multiaxes servo system increase significantly since traditional controller still exists many drawbacks such as limited control axes, low speed data acquisition, or heavy weight. In this paper, we present the design and implementation of both hardware and software for real-time express-based motion controller. This controller can meet the demand for high-speed motion control and high performance which conventional fieldbus controllers cannot realize. With modular design, the controller brings many benefits such as low-cost, expandable ability, multiaxes control, or small physical size. Experimental results for an industrial motion system indicate that the proposed modular controller can perform well in time critical data transmission and is feasible and applicable in various fields.

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Lyapunov approach for motion synchronization of a two-slider system

Cited by 6 publications

References 26 publications

Robust synchronization motion tracking control for a two-slider system restrained by a flexible beam

Robust synchronization motion tracking control for a two-slider system restrained by a flexible beam

Uncertain Systems Motion Synchronization

Control and Implementation of Positioning System with Symmetrical Topology for Precision Manufacturing

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