Position synchronization of multiple motion axes with adaptive coupling control

A new control approach to position synchronization of multiple motion axes is developed, by incorporating cross-coupling technology into adaptive control design. The strategy is to stabilize position tracking of each axis while causing differential position errors between each axis and the other two axes converge to zero. If motions of every pair of axes are synchronized, motions of all axes are synchronized accordingly. The proposed adaptive controller and parameter adaptor employ coupling control by feeding back the position error of each axis and differential position errors between this axis and the other two axes. The proposed algorithm guarantees asymptotic convergence to zero of both position errors and synchronization errors. Simulation results demonstrate the effectiveness of the method, where the system is subject to different dynamic model parameters of motion axes, plant parameter variation, and external disturbances.