Adaptive Robust Control of Tracking and Synchronization for Multi-Axis Motion System

This paper investigates on motion synchronization of a multiple axes system. An adaptive robust control scheme was used to synthesize the synchronization compensator with cross-coupling dynamics among axes. By using the adaptive robust strategies, the asymptotic convergence of both tracking and synchronization errors are achieved. The robust control scheme also guarantees the satisfaction of transient performance, tracking errors, and synchronization errors. Experimental results of a three-axis motion system that include system uncertainties are also illustrated to verify the effectiveness of the proposed approach. The results indicate the excellent transient and both tracking and synchronization accuracies.