Robust coordinated control of multi-axis gantry stages

Abstract

High precision motion control of gantry stages has found numerous applications in the manufacturing industries where precise positioning is crucial. This paper presents the development of a robust controller for the co-ordinated motion control of moving gantry stages. The control scheme uses a feedback controller with a sliding mode to correct for the tracking error and to coordinate multiple axis to move in tandem. Simulation and experimental results will illustrate the enhanced performance of this control scheme.