Paper:

# Adaptive Control for Feed Drives Considering Coupling Effects Among Multiple Axes

## Naoki Uchiyama and Kazunori Mori

Department of Mechanical Engineering, Toyohashi University of Technology, 1-1 Hibarigaoka, Tempaku, Toyohashi, Aichi 441-8580, Japan

Most feed drive controller design ignores coupling effects among multiple axes. Inertia force caused by movement at one axis affects contact force between mechanical components at other axes, so friction magnitude changes at contact points, and considering this coupling effect in controller design could improve control performance. Because coupling effects are generally unknown, we propose adaptive controller design expanding on our previous design and demonstrate its effectiveness by comparative experiments with an adaptive controller that neglects coupling effects.

*Int. J. Automation Technol.*, Vol.4, No.1, pp. 45-52, 2010.

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