Robust adaptive cross-coupling position control of biaxial motion system

Abstract

The stability and synchronous performance are usually hard to be improved simultaneously in the biaxial cross-coupling position motion control system. Based on analyzing the characteristics of the cross-coupling control system, a robust adaptive cross-coupling control strategy is proposed. To restrict influences of destabilizing factors and improve both of stability and synchronous performance, the strategy forces dual axes to track the same reference model using Narendra adaptive control theory. And then, a robust parameters adaptive law is proposed. The stability analysis of the proposed strategy is conducted by applying Lyapunov stability theory. Related simulations and experiments indicate that the proposed strategy can improve synchronous performance and stability simultaneously.