Abstract
In this paper, high speed synchronization of two axes positioning systems under adaptive feedforward control is considered. The adaptive feedforward control system for one axis consists of a proportional feedback controller and an adaptive feedforward controller. To achieve high speed synchronization between the two positioning systems, a coupling controller, which responds to the synchronization error, is introduced. The synchronization error and the tracking errors are used as the adaptation error signals in the two adaptive feedforward controllers. When a disturbance input is applied to one axis, the tracking errors appear in the undisturbed axis as well as in the disturbed axis. This allows a quick removal of the synchronization error. The stability of the proposed control system is analyzed and the effectiveness of the system is demonstrated by experiment.
