Adaptive cou ling control for position synchronizati n of two otion axes: theory and application

Abstract

Abst act A new control algorithm for position synchronization of two motion axes is eveloped, by incorporating cross-coupling technology a to adaptive control architecture. The proposed cont oller and parameter estimator employ feedbacks of the position error of each axis and the synchronizatio error of two axes. It has been proved in theory that the proposed controller guarantees asymptotic converge ce to zero of both position tracking errors and the posi ion synchronization error. Experimental results demo strate effectiveness of the proposed method.