chapter  11

Adaptive Control of a Gantry System

WithC.S. Teo, K.K. Tan, S. Huang, S.Y. Lim


Proper control is crucial in the operation of mechatronic devices. The gantry positioning system is a mechatronic device that relies on feedback control. This chapter addresses the control of an H-type gantry positioning stage. The stage is posed as a three-degree-of-freedom system. Based on this structure, a mathematical model is obtained using the Lagrangian equations. An adaptive control method is formulated for the positioning of the stage based on this model, with minimal a priori information assumed. A stability analysis is provided for the proposed control scheme. Real-time experimental results are presented to illustrate the practical application of the scheme and to verify the adequateness of the gantry model.