Abstract

This paper considers an adaptive Hinfin control method for decoupling model of parallel linear sliders. The decoupling model that divide the dynamic model of the parallel linear sliders into translatory movement and rotary movement is proposed. Based on this model, an adaptive Hinfin control strategy is also given. The proposed method ensures that the unknown parameters are estimated, besides, an approximated errors of external disturbances are attenuated by means of Hinfin control performance. In spite of considering the nonlinear adaptive Hinfin control problems, the compensator can design without solving the Hamilton-Jacobi-Isaacs equation. Simulation results are given to illustrate the effectiveness of our proposed method.

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