Time-varying internal model-based tracking control for a voice coil motor servo gantry

This paper presents a time-varying internal model-based control algorithm for high precision tracking of frequency-varying trajectories on a Voice Coil Motor (VCM) actuated servo gantry system. A new internal model control structure is proposed with a parallel connection of the stabilizer, which facilitates the design of a low order time-varying stabilizer for the augmented time-varying system. Effectiveness of the proposed control design is validated with simulations and experiments on the VCM servo gantry system. The resulting controller demonstrates good tracking performance with tracking error around 2 μm (RMS) for frequency varying periodic signals with RMS value of 354 μm.

[1]  Masayoshi Tomizuka,et al.  Robust adaptive and repetitive digital tracking control and application to a hydraulic servo for noncircular machining , 1994 .

[2]  Santosh Devasia,et al.  A Survey of Control Issues in Nanopositioning , 2007, IEEE Transactions on Control Systems Technology.

[3]  Zongxuan Sun,et al.  Robust stabilizer design for Linear time varying internal model based control , 2012, 2012 American Control Conference (ACC).

[4]  Akira Ichikawa,et al.  Output regulation of time-varying systems , 2006, Syst. Control. Lett..

[5]  Zhen Zhang,et al.  Trajectory tracking and disturbance rejection for linear time-varying systems: Input/output representation , 2009, Syst. Control. Lett..

[6]  S. Hara,et al.  Repetitive control system: a new type servo system for periodic exogenous signals , 1988 .

[7]  Hayato Yoshioka,et al.  A Newly Developed Linear Motor-Driven Aerostatic X-Y Planar Motion Table System for Nano-Machining , 2007 .

[8]  Roberto Horowitz,et al.  A variable structure multirate State estimator for seeking control of HDDs , 2005, IEEE Transactions on Control Systems Technology.

[9]  L. Silverman,et al.  Controllability and Observability in Time-Variable Linear Systems , 1967 .

[10]  Andrew G. Alleyne,et al.  A Cross-Coupled Iterative Learning Control Design for Precision Motion Control , 2008, IEEE Transactions on Control Systems Technology.

[11]  Michio Nakano,et al.  High Accuracy Control of a Proton Synchrotron Magnet Power Supply , 1981 .

[12]  Peiqing Ye,et al.  An Internal Model-Based Tracking Control for a Class of Uncertain Linear Time-Varying Systems , 2010 .

[13]  S. Verma,et al.  Multi-axis maglev nanopositioner for precision manufacturing and manipulation applications , 2005, IEEE Transactions on Industry Applications.

[14]  Shang-Liang Chen,et al.  Repetitive control design and implementation for linear motor machine tool , 2007 .

[15]  Fen Wu,et al.  Induced L2‐norm control for LPV systems with bounded parameter variation rates , 1996 .

[16]  Alberto Isidori,et al.  Nonlinear Control Systems, Third Edition , 1995, Communications and Control Engineering.

[17]  Bin Yao,et al.  Adaptive robust control of linear motor systems with dynamic friction compensation using modified LuGre Model , 2008, 2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

[18]  G. Franklin,et al.  A brief history of disk drive control , 2002, IEEE Control Systems.

[19]  Zongxuan Sun,et al.  A Novel Internal Model-Based Tracking Control for a Class of Linear Time-Varying Systems , 2010 .

[20]  B. Francis.  The linear multivariable regulator problem , 1976, 1976 IEEE Conference on Decision and Control including the 15th Symposium on Adaptive Processes.

[21]  S Devasia,et al.  CONTROL ISSUES IN HIGH‐SPEED AFM FOR BIOLOGICAL APPLICATIONS: COLLAGEN IMAGING EXAMPLE , 2004, Asian journal of control.

[22]  Bin Yao,et al.  Adaptive robust control of linear motors with dynamic friction compensation using modified LuGre model , 2009, Autom..

[23]  A. Serrani,et al.  The Linear Periodic Output Regulation Problem , 2005, CDC/ECC.

[24]  Tsu-Chin Tsao,et al.  Optimal Suppression of Laser Beam Jitter by High-Order RLS Adaptive Control , 2008, IEEE Transactions on Control Systems Technology.