Adaptive control with composite learning for tubular linear motors with micro-metric tolerances

Authors:
D. Naso;F. Cupertino;B. Turchiano
Affiliations:
Dipartimento di Elettrotecnica ed Elettronica, Politecnico di Bari, Bari, Italy;Dipartimento di Elettrotecnica ed Elettronica, Politecnico di Bari, Bari, Italy;Dipartimento di Elettrotecnica ed Elettronica, Politecnico di Bari, Bari, Italy
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

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Abstract

This paper examines an adaptive control scheme for tubular linear motors with micro-metric positioning tolerances. Uncertainties such as friction and other electro-magnetic phenomena are approximated with a radial basis function network, which is trained online using a learning law based on Lyapunov design. Differently from related literature, the approximator is trained using a composite adaptation law combining the tracking error and the model prediction error. Stability analysis and bounds for both errors are established, and a report on an extensive experimental investigation is provided to illustrate the practical advantages of the proposed scheme.