A robust adaptive control for parallel linear sliders using decoupling model

This paper considers an adaptive H∞ control method for decoupling model of parallel linear sliders. The decoupling model that divide the dynamic model of the parallel linear sliders into translatory movement and rotary movement is proposed. Based on this model, an adaptive H∞ control strategy is also given. The proposed method ensures that the unknown parameters are estimated, besides, an approximated errors of external disturbances are attenuated by means of H∞ control performance. In spite of considering the nonlinear adaptive H∞ control problems, the compensator can design without solving the Hamilton -Jacobi-Isaacs equation. Simulation results are given to illustrate the effectiveness of our proposed method.