A two-loop contour tracking control for biaxial servo systems with constraints and uncertainties

Lu Lu, Bin Yao, Wei Lin

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Scopus citations

Abstract

In this paper, a two-loop control strategy is proposed for the fast and accurate contour tracking of the planar biaxial servo systems with typical uncertainties and physical constraints. In the inner loop, a constrained adaptive robust contour tracking controller is designed and implemented in high sampling rate to minimize the contour tracking error of the system computed with respect to the global task frame in the presence of different types of disturbances, uncertainties and physical constraints. In the outer loop, an efficient feedrate optimization algorithm is synthesized and implemented online at low sampling rate to generate the replanned feedrate profile so that the total time for the tracking of the entire contour is minimized while without violating physical constraints. It is theoretically shown that the resulting closed-loop system can track any feasible desired contours with a guaranteed tracking time and steady-state contour tracking accuracy without violating the physical constraints. The proposed controller is also implemented on a linear motor driven industrial biaxial gantry system. Experimental results confirm that the proposed approach can indeed achieve faster tracking speed without any compromise on the achievable contour tracking accuracy and constraint violations when compared to the existing adaptive robust contour tracking algorithms.

Original languageEnglish (US)
Title of host publication2013 American Control Conference, ACC 2013
Pages6468-6473
Number of pages6
StatePublished - Sep 11 2013
Externally publishedYes
Event2013 1st American Control Conference, ACC 2013 - Washington, DC, United States
Duration: Jun 17 2013Jun 19 2013

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2013 1st American Control Conference, ACC 2013
CountryUnited States
CityWashington, DC
Period6/17/136/19/13

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Keywords

  • Adaptive Control
  • Constrained Control
  • Contour Tracking
  • Input Saturation
  • Linear Motors
  • Motion Control

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