Adaptive robust precision motion control of a high-speed industrial gantry with cogging force compensations

IEEE Transactions on Control Systems Technology

Volumn 19, Issue 5, 2011, Pages 1149-1159

  Yao, Bin ^a,b   Hu, Chuxiong ^b,c   Lu, Lu ^b   Wang, Qingfeng ^b  

^a PURDUE UNIVERSITY   (United States)

^b ZHEJIANG UNIVERSITY   (China)

^c TSINGHUA UNIVERSITY   (China)

Author keywords

Adaptive robust control (ARC); linear motor; motion control

Indexed keywords

CONTROL THEORY; INTERFEROMETERS; LASER INTERFEROMETRY; LINEAR MOTORS; MOTION CONTROL; ROBUST CONTROL; UNCERTAINTY ANALYSIS;

ADAPTIVE ROBUST CONTROL; ADAPTIVE ROBUST CONTROLLERS; ADAPTIVE ROBUST PRECISION MOTION CONTROL; DISCONTINUOUS PROJECTION; MEASUREMENT RESOLUTION; ONLINE PARAMETER ADAPTATION; PARAMETRIC UNCERTAINTIES; PRECISION MOTION CONTROL;

CONTROLLERS;

EID: 85027952314     PISSN: 10636536     EISSN: None     Source Type: Journal    
DOI: 10.1109/TCST.2010.2070504     Document Type: Article

References (30)

1. D. M. Alter and T. C. Tsao, "Control of linear motors for machine tool feed drives: Design and implementation of h∞ optimal feedback control," ASME J. Dyn. Syst., Meas., Control, vol. 118, pp. 649-656, 1996. (Pubitemid 126663891)
2. S. A. Bortoff, R. R. Kohan, and R.Milman, "Adaptive control of variable reluctance motors: A spline function approach," IEEE Trans. Ind. Electron., vol. 45, no. 3, pp. 433-444, May/Jun. 1998. (Pubitemid 128739787)
3. P. V. Braembussche, J. Swevers, H. V. Brussel, and P. Vanherck, "Accurate tracking control of linear synchronous motor machine tool axes," Mechatron., vol. 6, no. 5, pp. 507-521, 1996. (Pubitemid 126358686)
4. C. C. deWit, H. Olsson,K. J. Astrom, and P. Lischinsky, "A new model for control of systems with friction," IEEE Trans. Autom. Control, vol. 40, no. 3, pp. 419-425, Mar. 1995.
5. H. Fujimoto and B. Yao, " Multirate adaptive robust control for discrete-time non-minimum phase systems and application to linear motors," IEEE/ASME Trans. Mechantron., vol. 10, no. 4, pp. 371-377, Aug. 2005. (Pubitemid 41489316)
6. Y. Hong and B. Yao, " A globally stable high performance adaptive robust control algorithm with input saturation for precision motion control of linearmotor drive system," IEEE/ASME Trans.Mechatron., vol. 12, no. 2, pp. 198-207, Apr. 2007. (Pubitemid 46629542)
7. Y. Hong and B. Yao, "A globally stable saturated desired compensation adaptive robust control for linear motor systems with comparative experiments," Automatica, vol. 43, no. 10, pp. 1840-1848, 2007. (Pubitemid 47374639)
8. C. Hu, B. Yao, and Q. Wang, "Coordinated adaptive robust contouring controller design for an industrial biaxial precision gantry," IEEE/ASME Trans. Mechatron., vol. 15, no. 5, pp. 728-735, Oct. 2010.
9. C. Hu, B. Yao, and Q.Wang, "Integrated direct/indirect adaptive robust contouring control of a biaxial gantry with accurate parameter estimations," Automatica, vol. 46, no. 4, pp. 701-707, 2010.
10. C.-I. Huang and L.-C. Fu, "Adaptive approach to motion controller of linear induction motor with friction compensation," IEEE/ASME Trans. Mechatron., vol. 12, no. 4, pp. 480-490, Aug. 2007. (Pubitemid 47337540)
11. J. Y. Hung and Z. Ding, "Design of currents to reduce torque ripple in brushless permanent magnet motors," IEE Proc. B. Electric Power Appl., vol. 140, no. 4, pp. 260-266, Jul. 1993. (Pubitemid 23711853)
12. P. A. Ioannou and J. Sun, Robust Adaptive Control. Englewood Cliffs, NJ: Prentice-Hall, 1996.
13. S. Komada, M. Ishida, K. Ohnishi, and T. Hori, " Disturbance observer-based motion control of direct drive motors," IEEE Trans. Energy Conv., vol. 6, no. 3, pp. 553-559, Sep. 1991. (Pubitemid 21704231)
14. M. Krstic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and Adaptive Control Design. New York: Wiley, 1995.
15. L. Lu, B. Yao, Q. Wang, and Z. Chen, "Adaptive robust control of linear motors with dynamic friction compensation usingmodified lugre model," Automatica, vol. 45, no. 12, pp. 2890-2896, 2009.
16. R. Milman and S. Bortoff, "Observer-based adaptive control of a variable reluctance motor: Experimental results," IEEE Trans. Control Syst. Technol., vol. 7, no. 5, pp. 613-621, Sep. 1999.
17. R. T. Novotnak, J. Chiasson, and M. Bodson, "High-performance motion control of an induction motor with magnetic saturation," IEEE Trans. Control Syst. Technol., vol. 7, no. 3, pp. 315-327, May 1999.
18. G. Otten, T. Vries, J. Amerongen, A. Rankers, and E. Gaal, "Linear motor motion control using a learning feedforward controller," IEEE/ASME Trans. Mechatron., vol. 2, no. 3, pp. 179-187, Sep. 1997. (Pubitemid 127772336)
19. J. S. Reed and P. A. Ioannou, "Instability analysis and robust adaptive control of robotic manipulators," IEEE Trans. Robot. Autom., vol. 5, no. 3, pp. 381-386, Jun. 1989.
20. N. Sadegh and R. Horowitz, "Stability and robustness analysis of a class of adaptive controllers for robot manipulators," Int. J. Robot. Res., vol. 9, no. 3, pp. 74-92, 1990. (Pubitemid 21656593)
21. L. Xu and B. Yao, "Adaptive robust precision motion control of linear motors with ripple force compensation: Theory and experiments," in Proc. IEEE Conf. Control Appl., 2000, pp. 373-378. (Pubitemid 32188663)
22. L. Xu and B. Yao, "Adaptive robust precision motion control of linear motors with negligible electrical dynamics: Theory and experiments," IEEE/ASME Trans. Mechatron., vol. 6, no. 4, pp. 444-452, 2001. (Pubitemid 34473383)
23. L. Xu and B. Yao, "Output feedback adaptive robust precision motion control of linear motors," Automatica, vol. 37, no. 7, pp. 1029-1039, 2001. (Pubitemid 32498986)
24. B. Yao, "High performance adaptive robust control of nonlinear systems: A general framework and new schemes," in Proc. IEEE Conf. Decision Control, 1997, pp. 2489-2494.
25. B.Yao, "Desired compensation adaptive robust control," ASME J. Dyn. Syst., Meas., Control, vol. 131, no. 6, pp. 1-7, 2009.
26. B. Yao, M. Al-Majed, and M. Tomizuka, " High performance robust motion control of machine tools: An adaptive robust control approach and comparative experiments," IEEE/ASME Trans.Mechatron., vol. 2, no. 2, pp. 63-76, Jun. 1997. (Pubitemid 127772325)
27. B. Yao and M. Tomizuka, "Smooth robust adaptive sliding mode control of robot manipulators with guaranteed transient performance," ASME J. Dyn. Syst., Meas., Control, vol. 118, no. 4, pp. 764-775, 1996. (Pubitemid 126663907)
28. B. Yao and M. Tomizuka, "Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form," Automatica, vol. 33, no. 5, pp. 893-900, 1997. (Pubitemid 127413706)
29. B. Yao andM. Tomizuka, "Adaptive robust control of MIMOnonlinear systems in semi-strict feedback forms," Automatica, vol. 37, no. 9, pp. 1305-1321, 2001. (Pubitemid 32691027)
30. S. Zhao and K. Tan, "Adaptive feedforward compensation of force ripples in linear motors," Control Eng. Pract., vol. 13, pp. 1081-1092, 2005. (Pubitemid 40621975)