Observer-based contouring controller design of a biaxial stage system subject to friction

Chieh-Li Chen, Kuan Chen Lin

Research output: Contribution to journalArticle

37 Citations (Scopus)

Abstract

Friction is a major source of disturbances for common stage systems. For the purpose of high precision contouring performance, both contouring control and friction compensation are necessary. Hence, this brief studies the contouring controller design problem of a biaxial stage system subject to friction. Moreover, to cope with the real situation happening in most stage systems, position is assumed to be the only available information for design. By incorporating a friction model into system dynamics and with the help of the task coordinate formulation, an observer-based contouring controller is proposed to solve this problem. Based on the results of state observation, friction forces can be well estimated and compensated. The resulted contouring controller possesses an integrated structure such that the feedforward, feedback, contouring, and friction compensation controls can be synthesized in a systematic manner. Simulation and experimental results are consistent to the theoretical analyses and verify the proposed scheme.

Original languageEnglish
Pages (from-to)322-329
Number of pages8
JournalIEEE Transactions on Control Systems Technology
Volume16
Issue number2
DOIs
Publication statusPublished - 2008 Mar 1

Fingerprint

Friction
Controllers
Dynamical systems
Feedback
Compensation and Redress

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

@article{8178f428f14b4579896ef4b55940649c,
title = "Observer-based contouring controller design of a biaxial stage system subject to friction",
abstract = "Friction is a major source of disturbances for common stage systems. For the purpose of high precision contouring performance, both contouring control and friction compensation are necessary. Hence, this brief studies the contouring controller design problem of a biaxial stage system subject to friction. Moreover, to cope with the real situation happening in most stage systems, position is assumed to be the only available information for design. By incorporating a friction model into system dynamics and with the help of the task coordinate formulation, an observer-based contouring controller is proposed to solve this problem. Based on the results of state observation, friction forces can be well estimated and compensated. The resulted contouring controller possesses an integrated structure such that the feedforward, feedback, contouring, and friction compensation controls can be synthesized in a systematic manner. Simulation and experimental results are consistent to the theoretical analyses and verify the proposed scheme.",
author = "Chieh-Li Chen and Lin, {Kuan Chen}",
year = "2008",
month = "3",
day = "1",
doi = "10.1109/TCST.2007.903107",
language = "English",
volume = "16",
pages = "322--329",
journal = "IEEE Transactions on Control Systems Technology",
issn = "1063-6536",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
number = "2",

}

Observer-based contouring controller design of a biaxial stage system subject to friction. / Chen, Chieh-Li; Lin, Kuan Chen.

In: IEEE Transactions on Control Systems Technology, Vol. 16, No. 2, 01.03.2008, p. 322-329.

Research output: Contribution to journalArticle

TY - JOUR

T1 - Observer-based contouring controller design of a biaxial stage system subject to friction

AU - Chen, Chieh-Li

AU - Lin, Kuan Chen

PY - 2008/3/1

Y1 - 2008/3/1

N2 - Friction is a major source of disturbances for common stage systems. For the purpose of high precision contouring performance, both contouring control and friction compensation are necessary. Hence, this brief studies the contouring controller design problem of a biaxial stage system subject to friction. Moreover, to cope with the real situation happening in most stage systems, position is assumed to be the only available information for design. By incorporating a friction model into system dynamics and with the help of the task coordinate formulation, an observer-based contouring controller is proposed to solve this problem. Based on the results of state observation, friction forces can be well estimated and compensated. The resulted contouring controller possesses an integrated structure such that the feedforward, feedback, contouring, and friction compensation controls can be synthesized in a systematic manner. Simulation and experimental results are consistent to the theoretical analyses and verify the proposed scheme.

AB - Friction is a major source of disturbances for common stage systems. For the purpose of high precision contouring performance, both contouring control and friction compensation are necessary. Hence, this brief studies the contouring controller design problem of a biaxial stage system subject to friction. Moreover, to cope with the real situation happening in most stage systems, position is assumed to be the only available information for design. By incorporating a friction model into system dynamics and with the help of the task coordinate formulation, an observer-based contouring controller is proposed to solve this problem. Based on the results of state observation, friction forces can be well estimated and compensated. The resulted contouring controller possesses an integrated structure such that the feedforward, feedback, contouring, and friction compensation controls can be synthesized in a systematic manner. Simulation and experimental results are consistent to the theoretical analyses and verify the proposed scheme.

UR - http://www.scopus.com/inward/record.url?scp=40949130558&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=40949130558&partnerID=8YFLogxK

U2 - 10.1109/TCST.2007.903107

DO - 10.1109/TCST.2007.903107

M3 - Article

AN - SCOPUS:40949130558

VL - 16

SP - 322

EP - 329

JO - IEEE Transactions on Control Systems Technology

JF - IEEE Transactions on Control Systems Technology

SN - 1063-6536

IS - 2

ER -