Jack Gaynor Elliot

3DOF closed loop sheet alignment on non-holonomic printer differential drive registration device using input-state linearization

Aligning sheets correctly before imaging is a critical function in high-end cut sheet printers. This paper describes a differential drive electronic cut sheet registration system used in the Xerox iGen3 digital press. The sheet registration problem and system model are explained. An input-state linearization based nonlinear controller is designed to control this underactuated and non-holonomic system. Simulation and experimental results show the applicability of this controller.