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Title: Dynamic modeling and adaptive control of a H-type gantry stage
Authors: Teo, C.S.
Tan, K.K. 
Lim, S.Y. 
Huang, S. 
Tay, E.B. 
Keywords: Adaptive control
Dynamic modeling
Gantry stage
Issue Date: Sep-2007
Citation: Teo, C.S., Tan, K.K., Lim, S.Y., Huang, S., Tay, E.B. (2007-09). Dynamic modeling and adaptive control of a H-type gantry stage. Mechatronics 17 (7) : 361-367. ScholarBank@NUS Repository.
Abstract: 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 proposed control scheme. Both software simulation and experimental results are documented to illustrate the practical application of the scheme, and to verify the adequateness of the gantry model. © 2007 Elsevier Ltd. All rights reserved.
Source Title: Mechatronics
ISSN: 09574158
DOI: 10.1016/j.mechatronics.2007.04.004
Appears in Collections:Staff Publications

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