Improvement of contour following control using cross coupled control and adaptive disturbance compensation

Wei Liang Kuo, Wei Che Tsai, Hao Lun Huang, Ming-Yang Cheng

Research output: Contribution to journalConference article

Abstract

Contour following motions are commonly seen in industrial manufacturing, in which the quality of manufacturing/product closely depends on the accuracy of contour following motions. In general, contour following accuracy will be affected by factors such as dynamics incompatibility among different axes and external disturbances. In order to cope with this problem, this paper proposes a new motion control scheme that consists of a well-known cross-coupled controller (CCC) and an adaptive disturbance compensator (ADC). In particular, the proposed motion control scheme is mainly used to suppress external disturbance and also cope with the problems of modeling uncertainty and dynamics incompatibility among different axes. Moreover, in order to further enhance the effectiveness of the proposed motion control scheme, the parameter-based contour error estimation algorithm is employed in this paper to provide accurate contour error information to the cross-coupled controller. Several contour following experiments conducted on a two-axis motion stage are used to assess the effectiveness of the proposed control scheme.

Original languageEnglish
JournalInternational Conference of Control, Dynamic Systems, and Robotics
DOIs
Publication statusPublished - 2016 Jan 1
Event3rd International Conference on Control, Dynamic Systems, and Robotics, CDSR 2016 - Ottawa, Canada
Duration: 2016 May 92016 May 10

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Motion control
Disturbance
Motion Control
Controllers
Error analysis
Motion
Manufacturing
Controller
Uncertainty Modeling
Error Estimation
Dynamic Modeling
Compensator
Estimation Algorithms
Compensation and Redress
Experiments
Experiment

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Control and Optimization
  • Control and Systems Engineering

Cite this

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title = "Improvement of contour following control using cross coupled control and adaptive disturbance compensation",
abstract = "Contour following motions are commonly seen in industrial manufacturing, in which the quality of manufacturing/product closely depends on the accuracy of contour following motions. In general, contour following accuracy will be affected by factors such as dynamics incompatibility among different axes and external disturbances. In order to cope with this problem, this paper proposes a new motion control scheme that consists of a well-known cross-coupled controller (CCC) and an adaptive disturbance compensator (ADC). In particular, the proposed motion control scheme is mainly used to suppress external disturbance and also cope with the problems of modeling uncertainty and dynamics incompatibility among different axes. Moreover, in order to further enhance the effectiveness of the proposed motion control scheme, the parameter-based contour error estimation algorithm is employed in this paper to provide accurate contour error information to the cross-coupled controller. Several contour following experiments conducted on a two-axis motion stage are used to assess the effectiveness of the proposed control scheme.",
author = "Kuo, {Wei Liang} and Tsai, {Wei Che} and Huang, {Hao Lun} and Ming-Yang Cheng",
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Improvement of contour following control using cross coupled control and adaptive disturbance compensation. / Kuo, Wei Liang; Tsai, Wei Che; Huang, Hao Lun; Cheng, Ming-Yang.

In: International Conference of Control, Dynamic Systems, and Robotics, 01.01.2016.

Research output: Contribution to journalConference article

TY - JOUR

T1 - Improvement of contour following control using cross coupled control and adaptive disturbance compensation

AU - Kuo, Wei Liang

AU - Tsai, Wei Che

AU - Huang, Hao Lun

AU - Cheng, Ming-Yang

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AB - Contour following motions are commonly seen in industrial manufacturing, in which the quality of manufacturing/product closely depends on the accuracy of contour following motions. In general, contour following accuracy will be affected by factors such as dynamics incompatibility among different axes and external disturbances. In order to cope with this problem, this paper proposes a new motion control scheme that consists of a well-known cross-coupled controller (CCC) and an adaptive disturbance compensator (ADC). In particular, the proposed motion control scheme is mainly used to suppress external disturbance and also cope with the problems of modeling uncertainty and dynamics incompatibility among different axes. Moreover, in order to further enhance the effectiveness of the proposed motion control scheme, the parameter-based contour error estimation algorithm is employed in this paper to provide accurate contour error information to the cross-coupled controller. Several contour following experiments conducted on a two-axis motion stage are used to assess the effectiveness of the proposed control scheme.

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