T-S fuzzy tracking and synchronous control in a gantry stage

In this paper, we propose a T-S fuzzy model based controller for the H-type gantry stage. The synchronized error, which is caused by mismatch quality and friction, is an important control problem for the H-type gantry stage. Utilizing a Lagrangian equation, all states can be formulated as a state equation. Furthermore, the T-S fuzzy model based controller is designed to reduce velocity error, and the position error can also be obtained through internal transformation. Moreover, by utilizing additional transformations, the stabilization problem can be transformed into a linear matrix inequalities (LMIs) problem. Finally, numerical simulation and experimental results are illustrated to demonstrate that the control scheme can effectively reduce synchronized error and tracking error of a gantry stage.