title: A discrete time-varying internal model-based approach for high precision tracking of a multi-axis servo gantry.
abstract: In this paper, we consider the discrete time-varying internal model-based control design for high precision tracking of complicated reference trajectories generated by time-varying systems. Based on a novel parallel time-varying internal model structure, asymptotic tracking conditions for the design of internal model units are developed, and a low order robust time-varying stabilizer is further synthesized. In a discrete time setting, the high precision tracking control architecture is deployed on a Voice Coil Motor (VCM) actuated servo gantry system, where numerical simulations and real time experimental results are provided, achieving the tracking errors around 3.5‰ for frequency-varying signals.
authors: Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China; Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University, 100084, China. Electronic address: zzhang@tsinghua.edu.cn.
authors: Zhen
authors: Z
authors: Zhang
authors: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China; Key Laboratory of High-efficiency and Clean Mechanical Manufacturing, Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan, Shandong 250061, China. Electronic address: pengyan2007@gmail.com.
authors: Peng
authors: P
authors: Yan
authors: School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China.
authors: Huan
authors: H
authors: Jiang
authors: Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China.
authors: Peiqing
authors: P
authors: Ye
keywords: Discrete time-varying systems; Internal model; Mechatronics; Tracking