Linear motor motion control using a learning feedforward controller

Otten, Gerco and Vries de, Theo J.A. and Amerongen van, Job and Rankers, Adrian M. and Gaal, Erik W. (1997) Linear motor motion control using a learning feedforward controller. IEEE/ASME Transactions on Mechatronics, 2 (3). pp. 179-187. ISSN 1083-4435

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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.
Item Type:	Article
Copyright:	© 1997 IEEE
Faculty:	Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:	Robotics and Mechatronics (CE)
Link to this item:	http://purl.utwente.nl/publications/78694
Official URL:	http://dx.doi.org/10.1109/3516.622970
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