Dynamic modeling and adaptive control of a multi-axial gantry stage

This paper addresses the physical dynamic modeling and simulates the adaptive control of a precision gantry stage. The stage is posed as a three-degree-of-freedom system, based on a patented air-bearing stage provided by the Singapore Institute of Manufacturing Technology. Using this stage as the target model, a mathematical model is then built using the Lagrangian equation. An adaptive control method is formulated for the positioning of the stage, with minimal a priori information assumed of the model. A stability analysis is given for the proposed control scheme. Simulation results are also documented to illustrate the feasibility of the scheme. Future direction is to implement the adaptive controller to the actual gantry stage.