The IT2FNN synchronous control for H-type gantry stage driven by dual linear motors

An interval type-2 fuzzy neural network(IT2FNN) control method is presented for H-type gantry stage driven by dual linear motors. The synchronous motion of the dual linear motors is the main factor affecting the accuracy and robustness of the servo system. Thus, the proposed method sets the position error of the both side motors as input, the powerful self-learning ability of neural network is used to guarantee the synchronous error converge to zero to achieve synchronous control. From the simulation results, the synchronous performance of the two-axis motion is significantly improved, and the robustness can be obtained as well using the proposed IT2FNN control method.