A Study on the Position-Synchronous Control of Coupling Structure by H Approach

H제어기법에 의한 커플링구조의 위치동기제어에 관한 연구

  • Published : 2002.10.01


In this study, a synchronous controller algorithm being applicable to two-axis position synchronzation is developed. Based on coupling structure, the synchronous control system is composed of speed and synchronous controllers. The speed controller is designed to follow a speed reference. In addition, the synchronous controller is designed from the viewpoint of accurate synchronization and robust stability in H$\infty$ synthesis. Finally, the effectiveness of the presented controller is demonstrated through extensive experiments.


Coupling Structure;Position Synchronization;Robust Stability;Synchronous Controller;H-Controller


  1. Jeong, S. K., Kim, Y. J. and You, S. S., 2001, 'Precise Position Synchronous Control of Two Axes Rotation Systems by Cooperative Control,' Transactions of KSME, A, Vol. 25. No. 12, pp. 2078-2090
  2. Ahn, S. W., Choi, M. S., Park, Y. J. and Kim, J. H., 1998, 'Synchronized Control of 2-Driving Axes in Large Scale Gantry Robot Systems,' Proceedings of the KSPE Spring Annual Meeting, pp. 436-439
  3. Kamano, T., Suzuki, T., Iuchi, N. and Tomizuka, M., 1993, 'Adaptive Feedforward Controller for Synchronization of Two Axes Positioning System,' SICE, Vol. 29, No.7, pp. 785 -791
  4. Zhao, Z. M., Kamano, T., Szuki, T., Harada, H. and Kataoka, Y., 1996, 'Synchronization of Two Motion Axes With Disturbance Observers,' SICE, Vol. 9, No.4, pp. 151 -161
  5. Zhou, K. and Khargonekar, P. P., 1998, 'An Algebraic Riccati Approach to $H_{infty}$ Optimization,' Systems and Control Letter, Vol. 11, pp. 85-90
  6. Doyle, J. C., Glover, K., Khargonekar, P. P. and Francis, B. A., 1989, 'State-space Solutions to Standard $H_2$ and $H_{infty}$ Control Problems,' IEEE Transactions on Automatic Control, Vol. 34, No. 8, pp. 831-847
  7. Glover, K. and Doyle, J. C., 1988, 'State-Space Formulae for All Stabilizing Controllers that Safety an $H_{infty}$ Norm Bound and Relations to Risk Sensitivity,' Systems and Control Letters, Vol. 11, pp. 167-172
  8. Mita, T., Liu, K. Z. and Kuriyma, K., 1993, '$H_{infty}$ Control with Weighting Functions Having kw Poles,' SICE, Vol. 29, No. 11, pp. 1320-1329
  9. Safonov, M. G., Limebeer, D. J. N. and Chiang, R. Y., 1992, Robust Control Toolbox User's Guide, The MathWork
  10. Yang, J. H., Byun, J. H., Kim, Y. B. and Jeong, S. K., 1997, 'High Precision Position Synchronous Control in a Multi-Axes Driving Systemt (II),' Journal of the KSPE, Vol. 14. No. 3, pp. 98 - 106
  11. Byun, J. H. and Yeo, D. J., 2001, 'Synchronous Control of a Two-Axes Driving System by Disturbance Observer,' Transactions of KSME, A, Vol. 25. No.2, pp. 242-249