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To achieve excellent contouring performance, it is no longer possible to neglect dynamic coupling phenomena that occur during contouring controls, especially for a linear-motor-driven industrial biaxial precision gantry, which often moves at high speeds. In addition, effects of significant parametric uncertainties and uncertain nonlinearities need to be addressed carefully. In this paper, a discontinuous-projection-based adaptive robust controller that explicitly takes into account the dynamic coupling effect is developed for the high-performance contouring controls of linear-motor-driven high-speed/acceleration systems under various parametric uncertainties and uncertain nonlinearities. Theoretically, the resulting controllers achieve certain guaranteed transient performance and steady-state tracking accuracy. In addition, asymptotic output tracking is achieved under parametric uncertainties only. Comparative experimental results are obtained for a linear-motor-driven biaxial high-speed industrial gantry. The results verify the excellent contouring performance of the proposed schemes, even in the presence of parametric uncertainties and uncertain nonlinearities.
Date of Publication: Oct. 2010