TY - GEN
T1 - Adaptive Robust Tracking Control for Precision Motion Stages via Fully Actuated System Approach
AU - Wang, Jinglong
AU - Li, Zhan
AU - Sun, Weichao
AU - Al-Haddad, Kamal
AU - Gao, Huijun
N1 - Publisher Copyright:
© 2025 IEEE.
PY - 2025
Y1 - 2025
N2 - In this article, the tracking control problem of linear-motor-driven motion stages is solved via the high-order fully actuated (HOFA) system approach, which has the advantage of conciseness and sufficient freedom of parametric design. Using the established HOFA model of the motion system, an adaptive robust tracking controller is designed to deal with parameter uncertainty, unmodeled dynamics, and disturbance. To overcome the blindness of parameter tuning, a detailed parametric design method is proposed. Comparative experiments have been designed and implemented on a linear-motor-driven precision motion stage. The result shows that the controller designed using the proposed method can achieve good tracking performance under different conditions.
AB - In this article, the tracking control problem of linear-motor-driven motion stages is solved via the high-order fully actuated (HOFA) system approach, which has the advantage of conciseness and sufficient freedom of parametric design. Using the established HOFA model of the motion system, an adaptive robust tracking controller is designed to deal with parameter uncertainty, unmodeled dynamics, and disturbance. To overcome the blindness of parameter tuning, a detailed parametric design method is proposed. Comparative experiments have been designed and implemented on a linear-motor-driven precision motion stage. The result shows that the controller designed using the proposed method can achieve good tracking performance under different conditions.
KW - Adaptive robust control
KW - High-order fully actuated (HOFA) system approach
KW - Parametric design
KW - Precision motion control
UR - https://www.scopus.com/pages/publications/105016251404
U2 - 10.1109/ISIE62713.2025.11124629
DO - 10.1109/ISIE62713.2025.11124629
M3 - 会议稿件
AN - SCOPUS:105016251404
T3 - IEEE International Symposium on Industrial Electronics
BT - 2025 IEEE 34th International Symposium on Industrial Electronics, ISIE 2025
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 34th IEEE International Symposium on Industrial Electronics, ISIE 2025
Y2 - 20 June 2025 through 23 June 2025
ER -