Cartesian robots have position-dependent dynamics that should be accounted for in high performance positioning control applications. Traditional control strategies are limited by inherent performance-robustness trade-off and often tuned manually, resulting in far from optimal performance. Recent alternatives, such as LPV synthesis, result in controller not suitable for metrology applications, or difficult to tune in practice. New control strategies are developed and tested on an industrial high precision positioning system. Based on frequency domain modelling/identification techniques combined with a novel LPV controller synthesis approach, improved performance (defined as a mixed-sensitivity objective) can be achieved without sacrificing robustness.
- Hexagon Technology Center