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Title: Adaptive robust motion control for precise trajectory tracking applications
Authors: Tan, K.K. 
Huang, S.N. 
Dou, H.F. 
Lee, T.H. 
Chin, S.J.
Lim, S.Y.
Keywords: Adaptive control
Linear motors
Radial basis functions
Robust control
Issue Date: 2001
Citation: Tan, K.K., Huang, S.N., Dou, H.F., Lee, T.H., Chin, S.J., Lim, S.Y. (2001). Adaptive robust motion control for precise trajectory tracking applications. ISA Transactions 40 (1) : 57-71. ScholarBank@NUS Repository.
Abstract: This paper presents a robust servo control method for high precision motion control using linear actuators. The controller consists of three components: a simple feedforward compensator, a PID feedback controller, and a RBF (radial-basis function) adaptive compensator, each to fulfill a specific objective. The first two control components can be directly tuned based on only an estimated dominant second-order linear model. The RBF compensator is self-tuning, and it will compensate for remaining uncertainties in the system, residual of the linear model. Rigid proofs are provided, guaranteeing the robust stability of the proposed controller. Experimental results confirm the much superior performance of the 3-tier composite control over a standard motion controller. © 2001 Elsevier Science Ltd.
Source Title: ISA Transactions
ISSN: 00190578
DOI: 10.1016/S0019-0578(00)00037-9
Appears in Collections:Staff Publications

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