Robust position control of a transportation carriage directly driven by linear motor using wavelet neural

Abstract Design, simulation and experimental implementation of a wavelet basis function network learning controller for a transportation carriage directly driven by linear brushless dc motor are considered. Stability robustness with excellent positional precision is the primary concern. The proposed controller deals mainly with external disturbances, e.g. nonlinear friction force and payload variations in motion control of linear motors. It consists of two parts, one is a state feedback component, and the other one is a learning feedback component. The state feedback controller is designed on the basis of a simple linear model, and the learning feedback component is a wavelet neural controller. The effectiveness of the proposed control schemes is demonstrated by some simulated and experimental results.

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