A Model-Free Cross-Coupled Control for Position Synchronization of Multi-Axis Motions: Theory and Experiments

摘要

In this brief, a model-free cross-coupled controller is proposed for position synchronization of multi-axis motions. The position synchronization error of each axis is defined as the differential position error between this axis and its two adjacent axes, which is then coupled with the position error to form a coupled position error. A proportional and derivative (PD)-type synchronization controller with feedback of this coupled position error is proposed and proven to guarantee asymptotic convergence to zero of both position and synchronization errors in a setpoint position control. A setpoint tracking controller is further developed by adding feedforward control terms and a saturation function to the PD synchronization controller. The proposed method is easy to implement in practice since it is model free and the control gains are time-invariant. Experiments are performed to verify effectiveness of the proposed approach