Title :
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
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;
Conference_Titel :
Advanced Motion Control, 2004. AMC '04. The 8th IEEE International Workshop on
Print_ISBN :
0-7803-8300-1
DOI :
10.1109/AMC.2004.1297682
