Adaptive high-precision control of positioning tables-theory and experiments

Positioning tables are widely used in industries, and precise control of their motion is difficult to achieve because of uncertainty in their load and friction parameters. In this paper, we describe the development and experimentation of a new adaptive controller for precise table motion control. The global stability of the controller and global convergence of tracking errors are proven using Lyapunov stability theory under mild conditions. The adaptive controller has been experimentally implemented and extensively tested on a belt-drive high-speed table, resulting in significant improvement over conventional PID controller