Position synchronization of multiple motion axes with adaptive coupling control

Authors:
Dong Sun
Affiliations:
Department of Manufacturing Engineering and Engineering Management, City University of Hong Kong, 83 Tat Chee Avenue, Kowloon, Hong Kong
Venue:
Automatica (Journal of IFAC)
Year:
2003

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Abstract

A new control approach to position synchronization of multiple motion axes is developed, by incorporating cross-coupling technology into adaptive control architecture. The control strategy is to stabilize position tracking of each axis while synchronizing its motion with other axes' motions so that differential position errors amongst axes converge to zero. The proposed adaptive controller and parameter estimator employ coupling control by feeding back position errors and differential position errors, and have been realized to guarantee asymptotic convergence to zero of both position and synchronization errors. Simulations conducted on a multi-axis motion control system demonstrate the effectiveness of the method.