Real-Time Tuning of Transformation Matrices for Decoupling Control in Dual-Drive Stage Systems Using Gaussian Process

High-precision gantry stages are crucial in industrial equipment for fine processing. Achieving high-speed, accurate positioning is essential for improved throughput and product quality, particularly for large stages where low resonant modes and changes in transfer characteristics during operation present challenges. This paper introduces a method for real-time adjustment of transformation matrices for decoupling based on pre-acquired frequency response data and Gaussian process regression. The proposed approach allows for the implementation of adaptive, real-time control adjustments and pre-computed stability checks. The effectiveness of the method is demonstrated through experiments conducted with an XY gantry stage.