This paper focuses on a novel boundary control design for motion synchronization of a two-slider system. In this system, two sliders are constrained by a flexible beam. The de-synchronization of two sliders will result in the interaction between them. The interaction force is considered as shear force in this paper. Based on the shear force coupling, the system models are derived. In order to obtain an accurate representation, the flexible beam is derived as a distributed parameter system with one partial differential equation. Based on the proposed models, a Lyapunov approach is used to design the boundary control laws for two sliders to realize the synchronization motion. Simulations are provided to illustrated that the proposed method can effectively improve the sync motion performance compared with the cross-coupling method.
ChenCSChenLY (2012) Robust cross-coupling synchronous control by shaping position commands in multiaxes system. IEEE Transactions on Industrial Electronics59(12): 4761–4773.
2.
ChengMHLiYJBakhoumEG (2014) Controller synthesis of tracking and synchronization for multiaxis motion system. IEEE Transactions on Control Systems Technology22(1): 378–386.
3.
DouHWangS (2013) Robust adaptive motion/force control for motion synchronization of multiple uncertain two-link manipulators. Mechanism and Machine Theory67: 77–93.
4.
DouHWangS (2014) A boundary control for motion synchronization of a two-manipulator system with a flexible beam. Automatica50: 3088–3099.
5.
GarciaherrerosIKestelynXGomandJ, et al. (2013) Model-based decoupling control method for dual-drive gantry stages: A case study with experimental validations. Control Engineering Practice21(3): 298–307.
6.
HeWGeSS (2015) Dynamic modeling and vibration control of a flexible satellite. IEEE Transactions on Aerospace and Electronic Systems51(2): 1422–1431.
7.
JiangTLiuJHeW (2015) Boundary control for a flexible manipulator based on infinite dimensional disturbance observer. Journal of sound and Vibration348: 1–14.
8.
KhoaLDTruongDQAhnKK (2013) Synchronization controller for a 3-R planar parallel pneumatic artificial muscle (PAM) robot using modified ANFIS algorithm. Mechatronics23(4): 462–479.
9.
LiCYaoBZhuXWanQ (2015) Dual drive system modeling and analysis for synchronous control of an H-type gantry. In: IEEE International Conference on Advanced Intelligent Mechatronics, Busan, South Korea, 7–11 July 2015, pp. 214–219.
10.
LiYZhaoWChengY, et al. (2011) Research on dual-driving synchronous control system modeling of gantry-type machine tools with travelling bridge. In: IEEE International Symposium on Assembly and Manufacturing, Tampere, Finland, 7 July 2011, pp. 1–6.
11.
LinFJChouPHChenCSLinYS (2012a) DSP-based cross-coupled synchronous control for dual linear motors via intelligent complementary sliding mode control. IEEE Transactions on Industrial Electronics59(2): 1061–1073.
12.
LinFJChouPHChenCSLinYS (2012b) Three-Degree-of-Freedom dynamic model-based intelligent nonsingular terminal sliding mode control for a gantry position stage. IEEE Transactions on Fuzzy System20(5): 971–985.
13.
MaJChenSLKamaldinN (2017) A novel constrained H2 optimization algorithm for mechatronics design in flexure-linked biaxial gantry. ISA Transactions71: 467–379.
14.
ShangWCongSGeY (2013) Coordination motion control in the task space for parallel manipulators with actuation redundancy. IEEE Transactions on Automation Science and Engineering10(3): 665–673.
15.
ShangWCongSZhangY (2009) Active joint synchronization control for a 2-DOF redundantly actuated parallel manipulator. IEEE Transanctions on Control Systems Technology17(2):416–423
16.
ShiCWangXWangS, et al. (2015) Adaptive decoupling synchronous control of dissimilar redundant actuation system for large civil aircraft. Aerospace Science and Technology47: 114–124.
17.
SunD (2003) Position synchronization of multiple motion axes with adaptive coupling control. Automatica39(6): 997–1005.
18.
SunDLiuYH (2001) Position and force tracking of two-manipulator system manipulating a flexible beam. Journal of Robotic Systems 18(4): 197–212.
19.
SunDLuRMillsJKWangC (2006) Synchronous tracking control of parallel manipulators using cross-coupling approach. The International Journal of Robotics Research25(11):1137–1147.
20.
SunHChiuTC (2001) Motion synchronization for multi-cylinder electro-hydraulic system. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Como, Italy, 8–12 July 2001, pp. 1–11.
21.
SunHChiuTC (2002) Motion synchronization for dual-cylinder electrohydraulic lift systems. IEEE/ASME Transactions on Mechatronics7(2): 171–181.
22.
WaheedURWangSWangX, et al. (2016) Motion synchronization in a dual redundant HA/EHA system by using a hybrid integrated intelligent control design. Chinese Journal of Aeronautics29(3): 789–798.
23.
XuXGuGYXiongZ, et al. (2017) Development of a decentralized multi-axis synchronous control approach for real-time networks. ISA Transactions68: 116–126.
24.
ZhaoDZhuQ (2014) Position synchronised control of multiple robotic manipulators based on integral sliding mode. International Journal of systems science45(3): 556–570.
25.
ZhaoDLiSGaoF (2008) Fully Adaptive feedforward feedback synchronized tracking control for stewart platform systems. International Journal of Control, Automation, and Systems6(5): 689–701.
26.
ZhaoDLiSZhuQ (2016) Adaptive synchronized tracking control for multiple robotic manipulators with uncertain kinematics and dynamics. International Journal of Systems Science47(4): 791–804.
27.
ZhongGShaoZDengHRenJ (2017) Precise position synchronous control for multi-Axis servo systems. IEEE Transactions on Industrial Electronics 64(5): 3707–3717.
