Title: H∞ cross-coupled algorithm-based robust synchronous control in large dual-drive gantry stages

Authors: Xiaowei Shao; Haisen Chen; Dexin Zhang; Jihe Wang

Addresses: School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, 200240, China ' School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, 200240, China ' School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, 200240, China ' School of Aeronautics and Astronautics, Shanghai Jiao Tong University, Shanghai, 200240, China

Abstract: This paper investigates the problem of H∞ cross-coupled algorithm-based robust synchronous control for high-precision large dual-drive gantry stages with external disturbances resulting from moving payload and parameter uncertainties. Considering movement of the payload and large parameter uncertainties, an accurate dynamic model for large dual-drive gantry stages is established based on Lagrangian dynamics. Further, an H∞ control algorithm is suggested to attenuate the influence of external disturbances and large parameter uncertainties while a cross-coupled synchronous control algorithm is adopted to reduce synchronous errors. Lastly, numerical simulations are provided to demonstrate that the proposed method has higher tracking and synchronous control accuracy than traditional PID method.

Keywords: large dual-drive gantry stage; mechanical coupling; cross-coupled synchronous control; H∞ control.

DOI: 10.1504/IJAAC.2017.087043

International Journal of Automation and Control, 2017 Vol.11 No.4, pp.339 - 357

Received: 06 Dec 2015
Accepted: 14 Oct 2016
Published online: 05 Oct 2017 *

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