Synchronous tracking control of gantry stage using adaptive fuzzy moving sliding mode approach

摘要

A cross-coupled architecture incorporating adaptive fuzzy moving sliding mode control (AFMSMC) is proposed to improve the effects of the mechanical coupling over synchronous and tracking errors in a three-axis gantry stage. We utilize the indirect and direct adaptive fuzzy sliding mode control schemes with the time-varying surface to approximate the each unknown servo-motor system of gantry stage. An online adaptive tuning law based on Lyapunov theory is derived not only to adjust the fuzzy rule's parameters on-line so that the output tracking error converges to zero in finite time, but also to achieve asymptotically stable tracking of the reference trajectory. In addition, a cross-coupled control architecture which employs the proportional-integral-derivative (PID) controller to compensate the contour error between axes for synchronization performance improvement. Extensive simulations and comparisons for relevant circle trajectory of a gantry position systems not only can perform to verify the performance of the proposed adaptive fuzzy moving sliding mode controller design with cross-coupling architecture but also preserve the asymptotic stability.