Precision Coordinated Control of Gantry Multi-Axis Systems With Coupled Dynamics and Prescribed Performance
Pengwei Shi, Xinghu Yu, Jiahu Qin, Weichao Sun
Abstract
Structural coupling and complex environments bring challenges to the precision movement of gantry multi-axis systems in industrial production. In particular, ensuring the transient and steady-state performance of the gantry system under dynamic loads is a difficult problem to be addressed. This letter proposes an adaptive prescribed performance control (APPC) approach to obtain the required dynamic response and steady-state accuracy. The physical characteristics and kinematics of the gantry system are analyzed, and the Lagrange equation is adopted to establish the dynamic coupling model. In addition, the performance function and error conversion techniques are introduced to simplify the complexity of inequality constraints in controller design. The online parameter estimation algorithm is applied to achieve the desired model compensation, and a neural network approximation module is designed to weaken the effects of unknown disturbances and nonlinear residuals. The superiority of the collaborative control strategy is verified based on the excellent experimental results obtained.
BibTeX
@inproceedings{ral2025_precisioncoordin,
title = {Precision Coordinated Control of Gantry Multi-Axis Systems With Coupled Dynamics and Prescribed Performance},
author = {Pengwei Shi and Xinghu Yu and Jiahu Qin and Weichao Sun},
booktitle = {RA-L 2025},
year = {2025}
}