Novel Cross-Coupling Position Command Shaping Controller Using <i>H</i> _∞ in Multiaxis Motion Systems

Abstract

A new structure of cross-coupling position command shaping controller using <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">${H_\infty }$</tex-math></inline-formula> control scheme for the precise tracking in the multiaxial motion control is proposed in this article, together with its stability analysis.This new structure has the advantage that the controller has a simpler design process and robuster performance than the conventional ones. The proposed controller is evaluated and compared experimentally with an uncoupled controlled and conventional system. The experimental results show that the new structure remarkably reduces contour error. In addition, this new controller can be implemented easily on a majority of motion systems in use today via reprogramming the reference position command subroutine.