Integrated Direct/Indirect Adaptive Robust Precision Control of Linear Motor Drive Systems with Accurate Parameter Estimations

Abstract The focus of the paper is on the synthesis of nonlinear adaptive robust controllers for precision linear motor drive systems that achieve not only excellent output tracking performance but also accurate parameter estimations for secondary purposes such as machine health monitoring and prognostics. Such an objective is accomplished through the intelligent integration of the output tracking performance oriented direct adaptive robust control (DARC) design with the accurate parameter estimation based indirect adaptive robust control (IARC) design. Comparative experimental results demonstrate that the proposed DIARC controller is able to achieve better tracking performance and better parameter estimation than either the DARC or the IARC algorithms.

[1]  Masayoshi Tomizuka,et al.  Smooth Robust Adaptive Sliding Mode Control of Manipulators With Guaranteed Transient Performance , 1996 .

[2]  Kouhei Ohnishi,et al.  Disturbance observer-based motion control of direct drive motors , 1991 .

[3]  Takeshi Tsuchiya,et al.  Disturbance Suppression Control with Preview Action of Linear DC Brushless Motor , 1993 .

[4]  Graham C. Goodwin,et al.  A parameter estimation perspective of continuous time model reference adaptive control , 1987, Autom..

[5]  Jan Swevers,et al.  Accurate tracking control of linear synchronous motor machine tool axes , 1996 .

[6]  B. Pasik-Duncan,et al.  Adaptive Control , 1996, IEEE Control Systems.

[7]  Li Xu,et al.  Adaptive robust precision motion control of linear motors with ripple force compensations: theory and experiments , 2000, Proceedings of the 2000. IEEE International Conference on Control Applications. Conference Proceedings (Cat. No.00CH37162).

[8]  Tsu-Chin Tsao,et al.  Control of Linear Motors for Machine Tool Feed Drives: Design and Implementation of H∞ Optimal Feedback Control , 1996 .

[9]  Bin Yao,et al.  Adaptive robust control of linear motors for precision manufacturing , 1999 .

[10]  Masayoshi Tomizuka,et al.  Comparative experiments of robust and adaptive control with new robust adaptive controllers for robot manipulators , 1994, Proceedings of 1994 33rd IEEE Conference on Decision and Control.

[11]  Masayoshi Tomizuka,et al.  Adaptive robust control of MIMO nonlinear systems in semi-strict feedback forms , 2001, Autom..

[12]  J. Slotine,et al.  On the Adaptive Control of Robot Manipulators , 1987 .

[13]  Graham C. Goodwin,et al.  Adaptive filtering prediction and control , 1984 .

[14]  S. Sastry,et al.  Adaptive Control: Stability, Convergence and Robustness , 1989 .

[15]  M. Tomizuka,et al.  High performance robust motion control of machine tools: an adaptive robust control approach and comparative experiments , 1997, Proceedings of the 1997 American Control Conference (Cat. No.97CH36041).

[16]  Theodorus J.A. de Vries,et al.  Linear motor motion control using a learning feedworward controller , 1997 .

[17]  Takeshi Tsuchiya,et al.  Disturbance suppression control with review action of linear DC brushless motor , 1995, IEEE Trans. Ind. Electron..

[18]  Li Xu,et al.  Adaptive robust motion control of linear motors for precision manufacturing , 2002 .

[19]  Bin Yao,et al.  High performance adaptive robust control of nonlinear systems: a general framework and new schemes , 1997, Proceedings of the 36th IEEE Conference on Decision and Control.

[20]  Tsu-Chin Tsao,et al.  Dynamic stiffness enhancement of direct linear motor feed drives for machining , 1994, Proceedings of 1994 American Control Conference - ACC '94.

[21]  Li Xu,et al.  Output feedback adaptive robust precision motion control of linear motors , 2001, Autom..

[22]  Li Xu,et al.  Adaptive robust precision motion control of linear motors with negligible electrical dynamics: theory and experiments , 2001, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).

[23]  D. Mayne.  Nonlinear and Adaptive Control Design [Book Review] , 1996, IEEE Transactions on Automatic Control.

[24]  Masayoshi Tomizuka,et al.  Adaptive robust control of SISO nonlinear systems in a semi-strict feedback form , 1997, Autom..

[25]  B. Yao.  Desired Compensation Adaptive Robust Control ∗ , 1998 .

[26]  Bin Yao,et al.  INDIRECT ADAPTIVE ROBUST CONTROL OF SISO NONLINEAR SYSTEMS IN SEMI-STRICT FEEDBACK FORMS , 2002 .