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Tracking control of a two-axis motion system via a filtering-type sliding-mode control with radial basis function network

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3 Author(s)
Lin, F.-J. ; Dept. of Electr. Eng., Nat. Central Univ., Chungli, Taiwan ; Hsieh, H.-J. ; Chou, P.-H.

In this study, a filtering-type sliding-mode control with a radial basis function network (FSCRBFN) for a two-axis motion control system, which consists of two permanent magnet linear synchronous motors (PMLSMs), is proposed. First, the dynamics of the single-axis motion system with a lumped uncertainty which contains parameter variations, external disturbances, cross-coupled interference and non-linear friction force is derived. Next, a filtering-type sliding-mode control (FSC) is adopted for the two-axis motion control system to confront the lumped uncertainty. Then, to improve the control performance in contour tracking, the FSCRBFN control approach is developed. In the control approach, a radial basis function network (RBFN) is employed mainly to estimate the lumped uncertainty. Moreover, the proposed control approach is performed on a digital signal process (DSP)-based control system using TMS320C32. Finally, some experimental results are illustrated to show the validity of the proposed control approach.

Published in:

Control Theory & Applications, IET  (Volume:4 ,  Issue: 4 )