Paper Info
Title
Synchronous tracking control of gantry stage using adaptive fuzzy moving sliding mode approach
Abstract
A cross-coupled architecture incorporating adaptive fuzzy moving sliding mode control (AFMSMC) is proposed to improve the effects of the mechanical coupling over synchronous and tracking errors in a three-axis gantry stage. We utilize the indirect and direct adaptive fuzzy sliding mode control schemes with the time-varying surface to approximate the each unknown servo-motor system of gantry stage. An online adaptive tuning law based on Lyapunov theory is derived not only to adjust the fuzzy rule's parameters on-line so that the output tracking error converges to zero in finite time, but also to achieve asymptotically stable tracking of the reference trajectory. In addition, a cross-coupled control architecture which employs the proportional-integral-derivative (PID) controller to compensate the contour error between axes for synchronization performance improvement. Extensive simulations and comparisons for relevant circle trajectory of a gantry position systems not only can perform to verify the performance of the proposed adaptive fuzzy moving sliding mode controller design with cross-coupling architecture but also preserve the asymptotic stability.
Year
DOI
Venue
2016
10.1109/FUZZ-IEEE.2016.7737710
2016 IEEE International Conference on Fuzzy Systems (FUZZ-IEEE)
Keywords
Field
DocType
adaptive fuzzy moving sliding mode control,indirect and direct,gantry stage,Lyapunov theory,cross-coupled control
Control theory,PID controller,Control theory,Computer science,Fuzzy logic,Fuzzy control system,Adaptive control,Fuzzy rule,Sliding mode control,Tracking error
Conference
ISSN
ISBN
Citations 
1544-5615
978-1-5090-0627-4
0
PageRank 
References 
Authors
0.34
2
4
Name
Order
Citations
PageRank
Yu-Chen Lin12811.20
Tsung-Chih Lin236126.73
Yi-Chao Chen300.34
Tai-Yi Liu400.34