Neural network adaptive robust control with application to precision motion control of linear motors

摘要

In this paper, neural networks (NNs) and adaptive robust control (ARC) design philosophy are integrated to design performance-oriented control laws for a lass of single-input-single-output (SISO) nth-order non- linear systems. Both repeatable (or state dependent) unknown non-linerities and non-repeatable unknown non-linearities such a external disturbances are considered. In addition, unknown non-linearities can exist in the control input channel as well. Al unknown but repeatable non-linear functions are approximated by outputs of multi-layer neural networks to achieve a better model compensation for an improved performance.