Motion Control of Complex Gantry Dual-Drive Platform Based on Fully Actuated System Theory

Gantry dual-drive motion platforms are pivotal in precision instrumentation applications, where dual-motor configurations enhance control bandwidth and positioning accuracy. However, mechanical coupling from the crossbeam complicates synchronization control, and unknown external disturbances further degrade synchronization performance. Conventional controllers fail to resolve complex system interactions such as dynamic coupling, with high-order vibrational modes introducing non-negligible effects. This study establishes a dynamic model for a flexibly coupled gantry dual-drive platform and proposes a controller based on fully actuated system theory (FAST). Tracking differentiators are integrated to estimate state derivatives and an observer is applied for disturbance rejection. Experimental results validate that the proposed controller achieves full system decoupling, demonstrates enhanced design flexibility and robustness, and outperforms traditional PID controllers in tracking accuracy and disturbance rejection.