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 articlepeer-review


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
Publication statusPublished - 2016
Event3rd International Conference on Control, Dynamic Systems, and Robotics, CDSR 2016 - Ottawa, Canada
Duration: 2016 May 92016 May 10

All Science Journal Classification (ASJC) codes

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

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