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This paper investigates the tracking control problems of a voice coil motor (VCM) actuated servo gantry system. A novel sliding mode disturbance observer based control algorithm is proposed to accommodate both model uncertainties and various disturbances. In the proposed control architecture, the sliding mode observer is introduced to estimate the total disturbances such that the observer error can...
In this paper, we consider the discrete time-varying internal model-based control design for high precision tracking of complicated reference trajectories generated by time-varying systems. Based on a novel parallel time-varying internal model structure, asymptotic tracking conditions for the design of internal model units are developed, and a low order robust time-varying stabilizer is further synthesized...
In this paper we present the design, modeling and control of a high-precision, two-axis servo gantry by using a novel parallel kinematics XY stage. The parallel mechanism is based on a set of linear guideways for the motion decoupling. The advantages of the proposed design lie in low inertia and symmetric dynamics. Moreover the design of the stage makes the overall actuation system well suited for...
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