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Open AccessArticle

Adaptive Model-Free Coupling Controller Design for Multi-Axis Motion Systems

Department of Mechanical Engineering, National Chung Hsing University, Taichung 402, Taiwan
Author to whom correspondence should be addressed.
Appl. Sci. 2020, 10(10), 3592;
Received: 2 April 2020 / Revised: 10 May 2020 / Accepted: 19 May 2020 / Published: 22 May 2020
(This article belongs to the Special Issue Nonlinear Control: Theory and Applications)
In this study, we introduce an adaptive model-free coupling controller while using recurrent fuzzy neural network (RFNN) for multi-axis system to minimize the contour error. The proposed method can be applied to linear or nonlinear multi-axis motion control systems following desired paths. By the concept of cross-coupling control (CCC), multi-axis system is transferred into a nonlinear time-varying system due to the time-dependent coordinate transformation; tangential, normal, and bi-normal components of desired contour. Herein, we propose a model-free adaptive coupling controller design approach for multi-axis linear motor system with uncertainty and nonlinear phenomena. RFNN establishes the corresponding adaptive coupling controller to treat the uncertain system with nonlinear phenomenon. The stability of closed-loop system is guaranteed by the Lyapunov method and the adaptation of RFNN is also obtained. Simulation results are introduced in order to illustrate the effectiveness. View Full-Text
Keywords: adaptive control; contour error; multi-axis; coupling; motion control adaptive control; contour error; multi-axis; coupling; motion control
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Chen, B.-S.; Lee, C.-H. Adaptive Model-Free Coupling Controller Design for Multi-Axis Motion Systems. Appl. Sci. 2020, 10, 3592.

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