Contour Tracking Control for High-Order Fully Actuated Multi-Axis Motion Control Systems
This paper investigates the contour tracking control problem for a class of multi-axis motion control systems (MAMSs) with parameter uncertainties and external disturbances. First, a high-order fully actuated (HOFA) tracking error model of the MAMSs is established, and a fully actuated controller is...
Uloženo v:
| Vydáno v: | IEEE International Conference on Industrial Technology (Online) s. 1 - 6 |
|---|---|
| Hlavní autoři: | , , , , , |
| Médium: | Konferenční příspěvek |
| Jazyk: | angličtina |
| Vydáno: |
IEEE
26.03.2025
|
| Témata: | |
| ISSN: | 2643-2978 |
| On-line přístup: | Získat plný text |
| Tagy: |
Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
|
| Abstract | This paper investigates the contour tracking control problem for a class of multi-axis motion control systems (MAMSs) with parameter uncertainties and external disturbances. First, a high-order fully actuated (HOFA) tracking error model of the MAMSs is established, and a fully actuated controller is designed to transform it into a linear constant system model with arbitrarily configurable poles. Second, parameter uncertainties and external disturbances are regarded as lumped disturbances of the system according to the concept of equivalent input disturbance (EID), and a generalized extended state observer (GESO) is designed to estimate the lumped disturbance. Then, the tracking controller for the single-axis is designed via the model predictive control (MPC) method in order to compensate for the disturbance effect through a feed-forward control method. On this basis, a cross-coupled control (CCC) strategy is used to further compensate the contour tracking error of MAMSs. The effectiveness of the proposed method are verified through a simulation of a two-axis motion control system. |
|---|---|
| AbstractList | This paper investigates the contour tracking control problem for a class of multi-axis motion control systems (MAMSs) with parameter uncertainties and external disturbances. First, a high-order fully actuated (HOFA) tracking error model of the MAMSs is established, and a fully actuated controller is designed to transform it into a linear constant system model with arbitrarily configurable poles. Second, parameter uncertainties and external disturbances are regarded as lumped disturbances of the system according to the concept of equivalent input disturbance (EID), and a generalized extended state observer (GESO) is designed to estimate the lumped disturbance. Then, the tracking controller for the single-axis is designed via the model predictive control (MPC) method in order to compensate for the disturbance effect through a feed-forward control method. On this basis, a cross-coupled control (CCC) strategy is used to further compensate the contour tracking error of MAMSs. The effectiveness of the proposed method are verified through a simulation of a two-axis motion control system. |
| Author | Wu, Qi Hua, Chengyuan Gu, Caoyuan Wang, Yao-Wei Takagi, Shigeyuki Zhang, Wen-An |
| Author_xml | – sequence: 1 givenname: Qi surname: Wu fullname: Wu, Qi email: qwu@zjut.edu.cn organization: College of Information Engineering, Zhejiang University of Technology,Hangzhou,China – sequence: 2 givenname: Chengyuan surname: Hua fullname: Hua, Chengyuan email: huachengyuan@zjut.edu.cn organization: College of Information Engineering, Zhejiang University of Technology,Hangzhou,China – sequence: 3 givenname: Caoyuan surname: Gu fullname: Gu, Caoyuan email: cygu@zjut.edu.cn organization: College of Information Engineering, Zhejiang University of Technology,Hangzhou,China – sequence: 4 givenname: Yao-Wei surname: Wang fullname: Wang, Yao-Wei email: ywwang@wust.end.cn organization: College of Information Science and Engineering, Wuhan University of Science and Technology,Wuhan,China – sequence: 5 givenname: Wen-An surname: Zhang fullname: Zhang, Wen-An email: wazhang@zjut.edu.cn organization: College of Information Engineering, Zhejiang University of Technology,Hangzhou,China – sequence: 6 givenname: Shigeyuki surname: Takagi fullname: Takagi, Shigeyuki email: takagisgyk@stf.teu.ac.jp organization: Enginnering Program, Tokyo University of Technology,Tokyo,Japan |
| BookMark | eNo9kMtOwzAURA0CiVLyB0j4B1KufW0nXlYRfUituiALdpWTOMWQxshxJPr3FPFYjXQ0ZxZzS65631tCHhjMGAP9uC7WpUKF2YwDl7MzUpIhXpBEZzpHZJIzLeGSTLgSmHKd5TckGYY3AEAOKISakJfC99GPgZbB1O-uP9BvEHxHWx_oyh1e011obKCLsetOdF7H0UTb0O3YRZfOP91Atz463_97z6ch2uNwR65b0w02-c0pKRdPZbFKN7vluphvUqcxpkpmFa-NqVQFwJWsVSstoqg45A2wXKomEw1CW7eCV0w0OjdSy0q3IjvXDE7J_c-ss9buP4I7mnDa_32BX1naVTY |
| ContentType | Conference Proceeding |
| DBID | 6IE 6IL CBEJK RIE RIL |
| DOI | 10.1109/ICIT63637.2025.10965133 |
| DatabaseName | IEEE Electronic Library (IEL) Conference Proceedings IEEE Xplore POP ALL IEEE Xplore All Conference Proceedings IEEE Electronic Library (IEL) IEEE Proceedings Order Plans (POP All) 1998-Present |
| DatabaseTitleList | |
| Database_xml | – sequence: 1 dbid: RIE name: IEEE Electronic Library (IEL) url: https://ieeexplore.ieee.org/ sourceTypes: Publisher |
| DeliveryMethod | fulltext_linktorsrc |
| Discipline | Engineering |
| EISBN | 9798331521950 |
| EISSN | 2643-2978 |
| EndPage | 6 |
| ExternalDocumentID | 10965133 |
| Genre | orig-research |
| GrantInformation_xml | – fundername: National Natural Science Foundation of China grantid: 62203411,62203390,62173305 funderid: 10.13039/501100001809 |
| GroupedDBID | 6IE 6IF 6IL 6IN AAJGR AAWTH ABLEC ADZIZ ALMA_UNASSIGNED_HOLDINGS BEFXN BFFAM BGNUA BKEBE BPEOZ CBEJK CHZPO IEGSK OCL RIE RIL |
| ID | FETCH-LOGICAL-i93t-657b2caab6b00265c6f5e334b208d01856d74d30fcf42b14d98a595b9f47334a3 |
| IEDL.DBID | RIE |
| IngestDate | Wed Apr 30 05:50:36 EDT 2025 |
| IsPeerReviewed | false |
| IsScholarly | false |
| Language | English |
| LinkModel | DirectLink |
| MergedId | FETCHMERGED-LOGICAL-i93t-657b2caab6b00265c6f5e334b208d01856d74d30fcf42b14d98a595b9f47334a3 |
| PageCount | 6 |
| ParticipantIDs | ieee_primary_10965133 |
| PublicationCentury | 2000 |
| PublicationDate | 2025-March-26 |
| PublicationDateYYYYMMDD | 2025-03-26 |
| PublicationDate_xml | – month: 03 year: 2025 text: 2025-March-26 day: 26 |
| PublicationDecade | 2020 |
| PublicationTitle | IEEE International Conference on Industrial Technology (Online) |
| PublicationTitleAbbrev | ICIT |
| PublicationYear | 2025 |
| Publisher | IEEE |
| Publisher_xml | – name: IEEE |
| SSID | ssj0003203446 |
| Score | 1.9033456 |
| Snippet | This paper investigates the contour tracking control problem for a class of multi-axis motion control systems (MAMSs) with parameter uncertainties and external... |
| SourceID | ieee |
| SourceType | Publisher |
| StartPage | 1 |
| SubjectTerms | Contour tracking control cross-coupled control (CCC) Dynamics Electromagnetic interference Faces fully-actuated system approach generalized extended state observer (GESO) Motion control multi-axis motion control systems (MAMSs) Predictive control State estimation Tracking Transforms Uncertain systems Uncertainty |
| Title | Contour Tracking Control for High-Order Fully Actuated Multi-Axis Motion Control Systems |
| URI | https://ieeexplore.ieee.org/document/10965133 |
| hasFullText | 1 |
| inHoldings | 1 |
| isFullTextHit | |
| isPrint | |
| link | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV07T8MwED7RigEWXkW85YHVJYlf8VhVVFSC0qFDtypxzlKXFvWB4N_jc9MCAwNbFNlS5Et0312-7zuA-zxxVqH3PA3pn0vhLC-EIs5UKhRBBIMx0s9mMMjHYzusxepRC4OIkXyGbbqM__KruVtTqyx84VbTPJIGNIzRG7HWrqEiMnKv0zWHKyx96Hf7Iy20MKEMzFR7u_vXHJWYRnpH_3yAY2h9C_LYcJdqTmAPZ6dw-MNL8AzG5DMVXgwWso-j_jfrbljoLMBSRnQO_ko2m4yKzk_WIeFIQJssKnB552O6ZC9xos9uX21m3oJR73HUfeL12AQ-tWJFXJYyc0VR6lhgKae9QiFkmSV5lYT0rCsjK5F452VWprKyeaGsKq2XJiwrxDk0Z_MZXgBDJ4uA8FKUSsjKW-uplg4A0YcyxGq8hBad0eRtY4wx2R7P1R_3r-GAIkEUrkzfQHO1WOMt7Lv31XS5uIvh_ALp_J8H |
| linkProvider | IEEE |
| linkToHtml | http://cvtisr.summon.serialssolutions.com/2.0.0/link/0/eLvHCXMwlV07T8MwED5BQQIWXkW88cDqkviVeKwqqla0pUOGblXi2FKXFvWB4N_jc9MCAwNbFNlS5Et0312-7zuAxzQyWlrnaOzTPxXcaJpziZypmEuECIkNke4lg0E6GulhJVYPWhhrbSCf2QZehn_55cyssFXmv3CtcB7JLuxJIVi0lmttWyqcoX-dqlhcfvFTt9XNFFc88YUgk43N_l-TVEIiaR__8xFOoP4tySPDbbI5hR07PYOjH26C5zBCpyn_ahCffwx2wElrzUMnHpgSJHTQVzTaJFh2fpImSkc83iRBg0ubH5MF6YeZPtt9lZ15HbL2c9bq0GpwAp1ovkQ2S8FMnhcqlFjSKCct56JgUVpGPkGrMhElj5xxghWxKHWaSy0L7UTil-X8AmrT2dReArFG5B7jxVZILkqntcNq2kNE5wsRrewV1PGMxm9ra4zx5niu_7j_AAedrN8b97qDlxs4xKggoYupW6gt5yt7B_vmfTlZzO9DaL8AX2yiTg |
| openUrl | ctx_ver=Z39.88-2004&ctx_enc=info%3Aofi%2Fenc%3AUTF-8&rfr_id=info%3Asid%2Fsummon.serialssolutions.com&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Abook&rft.genre=proceeding&rft.title=IEEE+International+Conference+on+Industrial+Technology+%28Online%29&rft.atitle=Contour+Tracking+Control+for+High-Order+Fully+Actuated+Multi-Axis+Motion+Control+Systems&rft.au=Wu%2C+Qi&rft.au=Hua%2C+Chengyuan&rft.au=Gu%2C+Caoyuan&rft.au=Wang%2C+Yao-Wei&rft.date=2025-03-26&rft.pub=IEEE&rft.eissn=2643-2978&rft.spage=1&rft.epage=6&rft_id=info:doi/10.1109%2FICIT63637.2025.10965133&rft.externalDocID=10965133 |