Controller Synthesis of Tracking and Synchronization for Multiaxis Motion System

摘要

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.