Advanced motion control: an adaptive robust control framework

2004 ◽  
Author(s):  
Bin Yao
Keyword(s):  
Robust Control ◽  
Motion Control ◽  
Adaptive Robust Control ◽  
Control Framework

Coordinated motion control of a pneumatic-cylinder-driven biaxial gantry for contour tracking tasks

2017 ◽  
Vol 40 (7) ◽  
pp. 2249-2258 ◽  
Author(s):  
Deyuan Meng ◽  
Aimin Li ◽  
Fei Chen ◽  
Kai Zhang
Keyword(s):  
Robust Control ◽  
Motion Control ◽  
Adaptive Robust Control ◽  
Contour Error ◽  
Pneumatic Cylinder ◽  
Coordinate Frame ◽  
Practical Implementation ◽  
Model Parameters ◽  
Contour Tracking ◽  
Coordinated Motion

In this paper, coordinated motion control of the pneumatic-cylinder-driven biaxial gantry for precise contour tracking is investigated. An adaptive robust coordinated motion controller is developed by incorporating the task coordinate formulation into the adaptive robust control architecture. Specifically, a task coordinate frame is used to approximately calculate the contour error, which is utilized for controller design to generate coordination between two axes. Furthermore, the proposed controller utilizes online parameter adaptation to estimate some important unknown model parameters, and employs a robust control law to attenuate the effects of parameter estimation errors, unmodelled dynamics and external disturbances. Therefore, certain transient contouring performance and steady-state contour tracking accuracy can be guaranteed. Extensive comparative experimental results obtained verify the effectiveness of the proposed coordinated motion control strategy and its performance robustness to sudden disturbances in practical implementation.

scholarly journals Simplified Adaptive Robust Motion Control with Varying Boundary Discontinuous Projection of Hydraulic Actuator

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Cungui Yu ◽  
Xianwei Qi
Keyword(s):  
Robust Control ◽  
Motion Control ◽  
High Performance ◽  
Simple Algorithm ◽  
Adaptive Robust Control ◽  
Hydraulic Systems ◽  
Hydraulic Actuator ◽  
Tracking Accuracy ◽  
Rotary Actuator ◽  
Robust Motion Control

This paper deals with the high performance adaptive robust motion control of electrohydraulic servo system driven by dual vane hydraulic rotary actuator. The recently developed adaptive robust control theory is used to handle the nonlinearities and modelling uncertainties in hydraulic systems. Aside from the difficulty of handling parametric variations, the traditional adaptive robust controller (ARC) is also a little complicated in practice. To address these challenging issues, a simplified adaptive robust control with varying boundary discontinuous projection is developed to enhance the robustness of the closed-loop system, based on the features of hydraulic rotary actuator. Compared with previous ARC controller, the resulting controller has a simple algorithm for more suitable implementation and can handle parametric variations via nonlinear robust design. The controller theoretically achieves a guaranteed transient performance and final tracking accuracy in the presence of both parametric uncertainties and uncertain nonlinearities. Extensive simulation results are obtained for a hydraulic rotary actuator to verify the high performance nature of proposed control strategy.

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