Linear motor motion control using a learning feedforward controller

Gerco Otten, Theo J.A. de Vries, Job van Amerongen, Adrian M. Rankers, Erik W. Gaal

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    206 Citations (Scopus)
    475 Downloads (Pure)

    Abstract

    The design and realization of an online learning motion controller for a linear motor is presented, and its usefulness is evaluated. The controller consists of two components: (1) a model-based feedback component, and (2) a learning feedforward component. The feedback component is designed on the basis of a simple second-order linear model, which is known to have structural errors. In the design, an emphasis is placed on robustness. The learning feedforward component is a neural-network-based controller, comprised of a one-hidden-layer structure with second-order B-spline basis functions. Simulations and experimental evaluations show that, with little effort, a high-performance motion system can be obtained with this approach.
    Original languageEnglish
    Pages (from-to)179-187
    Number of pages8
    JournalIEEE/ASME transactions on mechatronics
    Volume2
    Issue number3
    DOIs
    Publication statusPublished - 1997

    Keywords

    • Mechatronics
    • Neural network applications
    • Intelligent control
    • Motion Control
    • Learning control systems
    • Linear synchronous motors

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