Contour error control for the biaxial system based on active disturbance rejection generalised prediction

Abstract

ABSTRACT For the purpose of contour error control in two-axis systems, a cross-coupled controller utilising auto-disturbance rejection generalised predictive control and nonlinear proportional differentiation is proposed. The contour error components along each axis are estimated by utilising the information from the nearest reference point and its adjacent reference points. The combination of ADRC and GPC is utilised for uniaxial tracking control. The LESO is utilised for estimating and compensating for the total disturbance of the system while simplifying it into two cascaded integrators. Because GPC is designed only for the series form of the integrator, the dependence on mathematical models is reduced. A nonlinear cross-coupled controller is designed utilising the fal function, with compensation control quantities for each axis directly obtained from their respective contour error components. Finally, the results obtained from the simulation demonstrate that the control strategy can availably enhance the performance of single-axis tracking and contour processing.