Tracking performance improvement of a model reference robust control

2004 ◽  
Author(s):  
Lin Yan ◽  
Jiang Xu
Keyword(s):  
Robust Control ◽  
Performance Improvement ◽  
Tracking Performance ◽  
Model Reference

Indirect Neural Network Adaptive Robust Control of Linear Motor Drive System

2002 ◽  
Author(s):  
J. Q. Gong ◽  
Bin Yao
Keyword(s):  
Neural Network ◽  
Robust Control ◽  
Tracking Error ◽  
Linear Motor ◽  
Adaptive Robust Control ◽  
Operating Conditions ◽  
Tracking Performance ◽  
Motor Drive ◽  
Output Tracking ◽  
On Line

In this paper, an indirect neural network adaptive robust control (INNARC) scheme is developed for the precision motion control of linear motor drive systems. The proposed INNARC achieves not only good output tracking performance but also excellent identifications of unknown nonlinear forces in system for secondary purposes such as prognostics and machine health monitoring. Such dual objectives are accomplished through the complete separation of unknown nonlinearity estimation via neural networks and the design of baseline adaptive robust control (ARC) law for output tracking performance. Specifically, recurrent neural network (NN) structure with NN weights tuned on-line is employed to approximate various unknown nonlinear forces of the system having unknown forms to adapt to various operating conditions. The design is actual system dynamics based, which makes the resulting on-line weight tuning law much more robust and accurate than those in the tracking error dynamics based direct NNARC designs in implementation. With a controlled learning process achieved through projection type weights adaptation laws, certain robust control terms are constructed to attenuate the effect of possibly large transient modelling error for a theoretically guaranteed robust output tracking performance in general. Experimental results are obtained to verify the effectiveness of the proposed INNARC strategy. For example, for a typical point-to-point movement, with a measurement resolution level of ±1μm, the output tracking error during the entire execution period is within ±5μm and mainly stays within ±2μm showing excellent output tracking performance. At the same time, the outputs of NNs approximate the unknown forces very well allowing the estimates to be used for secondary purposes such as prognostics.

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