Integrated direct/indirect adaptive robust contouring control of a biaxial gantry with accurate parameter estimations

This paper presents an integrated direct/indirect adaptive robust contouring controller (DIARC) for an industrial biaxial high-speed gantry that achieves not only excellent contouring performance but also accurate parameter estimations for secondary purposes such as machine health monitoring and prognosis. Contouring control problem is first formulated in a task coordinate frame. A physical model-based indirect-type parameter estimation algorithm is then developed to obtain accurate on-line estimates of unknown model parameters. A DIARC controller possessing dynamic-compensation-like fast adaptation is subsequently constructed to preserve the excellent transient and steady-state contouring performance of the direct adaptive robust controller (DARC) designs. The proposed DIARC along with previously developed DARC contouring controllers are implemented on a high-speed industrial biaxial gantry to test their achievable performance in practice. Comparative experimental results verify the improved contouring performance and the accurate physical parameter estimates of the proposed DIARC algorithm.