Robust immersion and invariance adaptive coordinated control for a class of biaxial gantry systems  

作　　者：Kangjun Wang Xiangbin Liu Hongye Su 

机构地区：[1]School of Electronic and Information Engineering,Beijing Jiaotong University,Beijing,People’s Republic of China [2]Institute of Cyber-System and Control,Zhejiang University,Hangzhou,People’s Republic of China

出　　处：《Journal of Control and Decision》2022年第3期289-300,共12页控制与决策学报（英文）

基　　金：the National Natural Science Foundation of China[Grant Number 61673050].

摘　　要：This paper proposes a robust Immersion and Invariance(I&I)adaptive coordinated controller for a class of uncertain linear-motor-driven biaxial gantry system subject to external disturbances for high-accuracy contour tracking.Firstly,the dynamic model of the gantry system is transformed into task coordinate frame,through which the contour tracking can be regarded as a regulation problem.Based on the transformed system dynamics,an I&I-based adaptation law with smooth projection is proposed to estimate the unknown parameters.Different from traditional adaptive control,the proposed robust I&I adaptive control introduces a new term called tuning function in adaptation law to shape the dynamic behaviour of the estimation vector.Then the stability of the closed-loop system is proved by Lyapunov theory.Finally,comparative experiments are executed on an industrial biaxial gantry system with two different cases to verify the effectiveness of the proposed control law.

关 键 词：Robust adaptive control immersion and invariance smooth projection coordinated control biaxial gantry contour control 

分 类 号：O17[理学—数学]