Robust coordinated control of multi-axis gantry stages

Author

Tan, Kok-Kiong ; Lee, Tong-Heng ; Lim, Ser-Yong ; Giam, Twee-Seng ; Teo, Chek-Sing

Author_Institution

Dept. of Electr. & Comput. Eng., Nat. Univ. of Singapore, Singapore

fYear

2004

fDate

25-28 March 2004

Firstpage

287

Lastpage

292

Abstract

High precision motion control of gantry stages has found numerous applications in the manufacturing industries where precise positioning is crucial. This paper presents the development of a robust controller for the co-ordinated motion control of moving gantry stages. The control scheme uses a feedback controller with a sliding mode to correct for the tracking error and to coordinate multiple axis to move in tandem. Simulation and experimental results illustrate the enhanced performance of this control scheme.

Keywords

control system synthesis; feedback; manufacturing industries; materials handling equipment; motion control; position control; precision engineering; robust control; variable structure systems; feedback controller; high precision motion control; manufacturing industries; multiaxis gantry stages coordination; precise positioning; robust controller design; sliding mode control; tracking error; Adaptive control; Armature; Automatic control; Control systems; Motion control; Nonlinear dynamical systems; Permanent magnet motors; Robust control; Sliding mode control; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on

Print_ISBN

0-7803-8300-1

Type

conf

DOI

10.1109/AMC.2004.1297682

Filename

1297682