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This paper addresses the dynamic modeling and adaptive control of a H-type gantry stage. The stage is posed as a three-degree-of-freedom system. Based on this structure, a mathematical model is built using the Lagrangian equation. An adaptive control method is formulated for the positioning of the stage, with minimal a priori information assumed of the model. A stability analysis is provided for the...
In this paper, iterative learning control (ILC) is used to improve the tracking accuracy of the precision motion system using a dual-axis high-grade analog optical encoder as a reference to calibrate and model the dynamic geometrical errors. This proposed approach is able to compensate for given trajectory set. Experimental and simulation results are provided to highlight the principles and practical...
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