Robust Cross-Coupling Synchronous Control by Shaping Position Commands in Multiaxes System

Abstract

This paper proposes a new structure for cross-coupling synchronous controller using an H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control scheme to shape position commands for precise tracking in multiaxial motion control, together with its stability analysis. This proposed structure has the advantage that the controller has a simpler design process and more robust performance than conventional ones. The proposed controller is evaluated and compared simulated and experimentally with an unsynchronous controlled system and a conventional system. The simulated and experimental results show that the new structure reduces the position synchronous error remarkably. In addition, this new controller can easily be implemented on most currently used motion systems used by reprogramming the reference position command subroutine.