Optimal tracking control of motion systems

IEEE Transactions on Control Systems Technology

Volumn 20, Issue 6, 2012, Pages 1548-1558

  Mannava, Anusha ^a   Balakrishnan, S N ^a   Tang, Lie ^a   Landers, Robert G ^a  

^a Architectural and Environmental Engineering   (United States)

Author keywords

Lyapunov stability analysis; motion systems; neural network observer; optimal control; uncertainty estimation

Indexed keywords

BOUNDEDNESS; CNC MACHINE; CONTOUR CONTROL; CONTROL SIGNAL; DISTURBANCE ESTIMATION; EXCELLENT PERFORMANCE; FRICTION CHARACTERISTICS; INTEGRAL ACTION; LOW SPEED; LYAPUNOV STABILITY ANALYSIS; MOTION SYSTEM; MOTION TRACKING; NOMINAL SYSTEM; NONLINEAR FRICTION; OPTIMAL CONTROLLER; OPTIMAL CONTROLS; OPTIMAL TRACKING CONTROL; ORTHOGONAL AXES; PARAMETER VARIATION; PERFORMANCE INDICES; SYSTEM DYNAMICS; TRACKING CONTROLS; TRACKING ERRORS; UNCERTAINTY ESTIMATION; UNMODELED DYNAMICS; WEIGHT UPDATE;

COMPUTER CONTROL SYSTEMS; FRICTION; NAVIGATION; NEURAL NETWORKS; OPTIMIZATION; SYSTEM STABILITY; TRIBOLOGY;

CONTROLLERS;

EID: 84865394464     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2011.2168608     Document Type: Article

References (35)

1. A. Poo, J. G. Bollinger, and W. Younkin, "Dynamic error in type contouring systems," IEEE Trans. Ind. Appl., vol. IA-8, no. 4, pp. 477-484, Jul. 1972.
2. K. Erkorkmaz and Y. Altintas, "High speed CNC system design part III: High speed tracking and contouring control of feed drives," Int. J. Mach. Tools Manuf., vol. 41, no. 11, pp. 1637-1658, 2001. (Pubitemid 32487036)
3. M. Tomizuka, "Zero phase error tracking algorithmfor digital control," ASME J. Dyn. Syst., Meas., Control, vol. 109, pp. 65-68, 1987. (Pubitemid 17554850)
4. M. Tomizuka, M. S. Chen, S. Renn, and T.-C. Tsao, "Tool positioning for noncircular cutting with lathe," ASME J. Dyn. Syst., Meas., Control, vol. 109, no. 2, pp. 176-179, 1987. (Pubitemid 17602094)
5. T.-C. Tsao and M. Tomizuka, "Adaptive zero phase error tracking algorithm for digital control," ASME J. Dyn. Syst., Meas., Control, vol. 109, no. 4, pp. 349-354, 1987. (Pubitemid 18534696)
6. H. Zhang and R. G. Landers, "Precision motion control methodology for complex contours," ASME J. Manuf. Sci. Eng., vol. 129, no. 6, pp. 1060-1068, 2007.
7. C. Chen and K. Lin, "Observer-based contouring controller design of a biaxial stage system subject to friction," IEEE Trans. Control Syst. Technol., vol. 16, no. 2, pp. 322-329, Mar. 2008. (Pubitemid 351411184)
8. Y. Koren, "Cross-coupled biaxial computer controls for manufacturing systems," ASME J. Dyn. Syst., Meas., Control, vol. 102, no. 4, pp. 265-272, 1980. (Pubitemid 11489167)
9. Y. Koren and C. C. Lo, "Variable-gain cross-coupling controller for contouring," CIRP Annals, vol. 40/1, pp. 371-374, 1991. (Pubitemid 21681364)
10. P. K. Kulkarni and K. Srinivasan, "Cross coupled compensators for contouring control of multi-axial machine tools," in Proc. North Amer. Manuf. Res. Conf., 1985, pp. 558-566. (Pubitemid 16618737)
11. P. K. Kulkarni and K. Srinivasan, "Optimal contouring control of multiaxial feed drive servomechanism," ASME J. Eng. for Ind., vol. 111, no. 2, pp. 140-148, 1989.
12. T. C. Chiu and B. Yao, "Adaptive robust contour tracking of machine tool feed drive systems - A task coordinate frame approach," presented at the Amer. Control Conf., Albuquerque, NM, 1997.
13. B. Yao andM. Tomizuka, "Adaptive robust control of MIMOnonlinear systems with guaranteed transient performance," presented at the IEEE Conf. Decision Control, New Orleans, LA, 1995
14. B. Yao and M. Tomizuka, "Adaptive robust control of a class of multivariable nonlinear systems," presented at the IFAC World Congr., San Francisco, CA, 1996.
15. B. Yao, "Adaptive robust control of nonlinear systems with application to control of mechanical systems," Ph.D. dissertation, Dept.Mech. Eng., Univ. California Berkeley, Berkeley, 1996.
16. L. F. Yang and W. H. Wang, "Synchronization of twin-gyro precession under cross-coupled adaptive feedforward control," AIAA J. Guid., Control, Dyn., vol. 19, no. 3, pp. 534-539, 1996.
17. D. Sun, "Position synchronization of multiple motion axes with adaptive coupling control," Automatica, vol. 39, no. 6, pp. 997-1005, 2003.
18. Z. Jamaludin, H. V. Brussel, and J. Swevers, "Classical cascade and sliding mode control tracking performances for a XY feed table of a high-speed machine tool," Int. J. Precision Technol., vol. 1, no. 1, pp. 65-74, 2007.
19. Y. Altintas, K. Erkorkmaz, and W.-H. Zhu, "Sliding mode controller design for high speed feed drives," Annals CIRP, vol. 49/1, pp. 265-270, 2000.
20. F.-J. Lin, P.-H. Shieh, and P.-H. Shen, "Robust recurrent-neural- network sliding-mode control for the X-Y table of a CNC machine," IEE Proc. Control Theory Appl., vol. 153, no. 1, pp. 111-123, 2006. (Pubitemid 46786406)
21. K. Barton and A. Alleyne, "A cross-coupled iterative learning control design for precision motion control," IEEE Trans. Control Syst. Technol., vol. 16, no. 6, pp. 1218-1231, Nov. 2008.
22. H. Moghadam, R. G. Landers, and S. N. Balakrishnan, "Hierarchical position-contour control of linear axes," presented at the Int. Symp. Flexible Autom., Tokyo, Japan, 2010.
23. N. Uchiyama, S. Takagi, S. Sano, and K. Yamazaki, "Robust contouring control for multi-axis feed drive systems," in Proc. IEEE Conf. Emerg. Technol. Factory Autom., 2006, pp. 840-845.
24. M. Cheng, K. Su, and S.Wang, "Contour error reduction for free-form contour following tasks or biaxial motion control systems," Robot. Comput.-Integr. Manuf., vol. 25, no. 2, pp. 323-333, 2009.
25. K. Su and M. Cheng, "Contouring accuracy improvement using crosscoupled control and position error compensator," Int. J. Mach. Tools Manuf., vol. 48, no. 12-13, pp. 1444-1453, 2008.
26. L. Tang and R. G. Landers, "Predictive contour control with adaptive feedrate," IEEE/ASME Trans. Mechatron., pp. 1-11, 2011, DOI: 10.1109/TMECH.2011.2119324.
27. Y. Altintas and B. Sencer, "High speed contouring control strategy for five-axis machine tools," CIRP Annals-Manuf. Technol., vol. 59, no. 1, pp. 417-420, 2010.
28. S. Chen and K.Wu, "Contouring control of smooth paths for multiaxis motion systems based on equivalent errors," IEEE Trans. Control Syst. Technol., vol. 15, no. 6, pp. 1151-1158, Nov. 2007. (Pubitemid 350123929)
29. N. J. Krikelis and S. K. Barkas, "Design of tracking systems subject to actuator saturation and integrator windup," Int. J. Control, vol. 39, no. 4, pp. 667-682, 1987. (Pubitemid 14570699)
30. N. Kapoor, A. R. Teel, and P. Daoutidis, "An anti-windup design for linear systems with input saturation," Automatica, vol. 34, no. 5, pp. 559-574, 1998. (Pubitemid 128400104)
31. K. Rajagopal, A. Mannava, S. N. Balakrishnan, K. Kalmanje, and N. Nguyen, "Neuroadaptive model following controller design for nonaffine non-square aircraft system," presented at the AIAA Guid., Nav., Control Conf., Chicago, IL, 2009.
32. F. M. Ham and I. Kostanic, Principles of Neurocomputing for Science and Engineering. New York: McGraw Hill, 2001.
33. S. Haykin, Neural Networks: A Comprehensive Foundation. Englewood Cliffs, NJ: Prentice-Hall, 1999.
34. J. Kennedy and R. C. Eberhart, "Particle swarm optimization," in Proc. IEEE Int. Conf. Neural Netw., 1995, pp. 1942-1948.
35. L. Tang, J. Ruan, R. G. Landers, and F. W. Liou, "Variable powder flow rate control in laser metal deposition processes," ASME J. Manuf. Sci. Eng., vol. 130, no. 4, p. 041016, 2008.