Adaptive robust synchronous tracking control of dual-drive gantry stages via the fully actuated system approach

Position synchronous motion control for multi-motor servo systems plays an important role in industrial production. This work introduces an adaptive robust controller design method for synchronous control of dual-drive precision motion systems based on the fully actuated system (FAS) approach. The fully actuated system model, with full consideration of parameter uncertainty and modeling error, is established, and an adaptive robust synchronous control law with system parameter estimation and an adaptive RBFNN is proposed and analyzed. A parametric design method for the proposed control algorithm is developed, which is of great importance for the performance enhancement of motion systems. For the rotation angle estimation problem in the synchronous control, a yaw estimation method aiming at dealing with subtle deformation of guide rails and installation error of the linear encoders is proposed based on iterative learning and the Gaussian process regression method. Four sets of experiments are designed to test the closed-loop system's tracking performance, synchronization performance, and disturbance rejection capability. The results validated the effectiveness of the proposed controller design method and the yaw estimation method.