Master-Slave Synchronous Control of Dual-Drive Gantry Stage With Cogging Force Compensation

Shi, Pengwei; Sun, Weichao; Yang, Xuebo; Rudas, Imre J.; Gao, Huijun

doi:10.1109/tsmc.2022.3176952

Cited by 81 publications

(31 citation statements)

References 29 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Simulation results indicate the performance of the controller over a scope of time-varying input delays and the robustness to time-varying input delays up to 250 ms. In future work, the master-slave synchronous control for FES-cycling with electromechanical delays is an interesting topic (Liu et al, 2022 ; Shi et al, 2022 ).…”

Section: Discussionmentioning

confidence: 99%

Robust tracking for functional electrical stimulation cycling with unknown time-varying input delays: A switched systems approach

Tong

Zhu²

2022

Front. Neurorobot.

View full text Add to dashboard Cite

Motorized functional electrical stimulation (FES) cycling has been demonstrated to have numerous health benefits for individuals suffering from neurological disorders. FES-cycling is usually designed to track the desired trajectories in real time. However, there are input delays between the exertion of the stimulation and the corresponding muscle contraction that potentially destabilize the system and undermine training efforts. Meanwhile, muscle fatigue gives rise to a time-varying input delay and decreased force. Moreover, switching between FES and motor control can be chattering and destabilizing owing to the high frequency. This article constructs Lyapunov-Krasovskii functionals to analyze the stability and robustness of the nonlinear cycling system with time-varying input delay. A new average dwell time condition is then provided to ensure the input-to-state stability of the considered systems. Finally, numerical simulations are illustrated to verify the effectiveness of the developed controller.

show abstract

Section: Discussionmentioning

confidence: 99%

Robust tracking for functional electrical stimulation cycling with unknown time-varying input delays: A switched systems approach

Tong

Zhu²

2022

Front. Neurorobot.

View full text Add to dashboard Cite

show abstract

“…In addition, both i and ι i are positive constants with ι i = 1 4 i , i = 1, 2, 3. Theorem 1: The control law (21) and adaptation rate (12) (25) are applied to the dual-drive gantry system, which enables all signals to be bounded. For V (t), one has…”

Section: B Proposed Composite Adaptive Controlmentioning

confidence: 99%

“…The closed-loop system guarantees the boundedness of all signals under control law (21) and adaptive rate (12), which allows various reasonable estimation methods to be applied to identify unknown parameters. Consequently, it is necessary to design an estimation algorithm with good enough convergence characteristics to achieve asymptotic convergence of the final output tracking and parameter estimation of the system.…”

Section: Parameter Estimation Algorithmmentioning

confidence: 99%

Composite Adaptive Synchronous Control of Dual-Drive Gantry Stage With Load Movement

Shi

Yu²,

Yang

et al. 2023

IEEE Open J. Ind. Electron. Soc.

View full text Add to dashboard Cite

In gantry systems, load usually moves according to different production tasks. The continuous change of the beam centroid position is a non-negligible factor for achieving high-performance synchronous control. Therefore, it cannot be simply treated as an external disturbance. In addition, advanced controller design and model parameter identification are very important for precision motion control systems. This paper addresses the synchronous control of dual-drive gantry platforms with load movement to improve their steady-state and transient performance. Based on the analysis of the rigid and flexible characteristics of gantry mechanical components, a rigid-flexible coupling dynamic model is proposed, which provides a theoretical basis for the control system design. To ensure zero steady-state tracking error and parameter convergence in the presence of parameter uncertainties and unknown disturbances, a composite adaptive control method integrating excellent output tracking performance and parameter estimation is presented. Furthermore, the bridge between load movement and centroid position is established through frequency domain identification, which facilitates reasonable thrust distribution. Comparative experimental results are presented that confirm the effectiveness and advantages of the proposed synchronous control scheme.INDEX TERMS Synchronization control, composite adaptive algorithm, system identification, load movement I. INTRODUCTION

show abstract

“…27 As is well known, the sliding mode control (SMC) system is not sensitive to external disturbances and parameter variations, and thus SMC, as an effective robust control method, has attracted more and more attention and has been applied to various systems. [28][29][30][31][32] For T-S fuzzy singular systems, the problem of SMC is discussed [33][34][35][36][37] under the assumption that the input matrices of each subsystem are equal. To eliminate this assumption, a novel sliding surface given in vector form is provided in the work of Zhang et al 38 Subsequently, Zhang et al 39 extend the vector integral sliding surface to the study of T-S fuzzy singular systems.…”

Section: Introductionmentioning

confidence: 99%

“…On the other hand, the uncertainties and disturbances may affect the stability of systems, and even lead to safety problems, such as beam‐head surface mounters, 25 multifunctional placer, 26 and motors‐driven systems 27 . As is well known, the sliding mode control (SMC) system is not sensitive to external disturbances and parameter variations, and thus SMC, as an effective robust control method, has attracted more and more attention and has been applied to various systems 28‐32 . For T‐S fuzzy singular systems, the problem of SMC is discussed 33‐37 under the assumption that the input matrices of each subsystem are equal.…”

Section: Introductionmentioning

confidence: 99%

New results on sliding mode control for polynomial fuzzy singular systems with time‐varying delay

Feng

Yang

Lam

2022

Intl J Robust & Nonlinear

View full text Add to dashboard Cite

This article focuses on the problem of sliding mode control (SMC) for polynomial fuzzy singular systems with the matched uncertainty, time-varying delay and different control input matrices. An integral sliding surface with different control input matrices and polynomial matrices is established. The existence of the equivalent controller can be determined according to the given sum-of-squares conditions. By choosing an appropriate augmented Lyapunov-Krasovskii functional and utilizing a generalized free-matrix-based integral inequality, a less conservative admissibility condition of sliding mode dynamics is proposed in the form of sum-of-squares. It is noteworthy that due to the choice of augmented Lyapunov-Krasovskii functional, the traditional methods cannot transform the nonlinear terms in the admissibility condition of sliding mode dynamics into linear terms. Here, several inequalities are introduced to overcome this difficulty. Furthermore, the SMC law is proposed to ensure the reachability of the sliding surface. The simulation results show that the proposed method is less conservative and effective.

show abstract

Master-Slave Synchronous Control of Dual-Drive Gantry Stage With Cogging Force Compensation

Cited by 81 publications

References 29 publications

Robust tracking for functional electrical stimulation cycling with unknown time-varying input delays: A switched systems approach

Robust tracking for functional electrical stimulation cycling with unknown time-varying input delays: A switched systems approach

Composite Adaptive Synchronous Control of Dual-Drive Gantry Stage With Load Movement

New results on sliding mode control for polynomial fuzzy singular systems with time‐varying delay

Contact Info

Product

Resources

About