Intelligent control of precision linear actuators

Abstract

This paper presents and compares possible intelligent control designs for precision motion control applications which are based on the use of linear actuators. The control schemes developed include adaptive control, composite control using a radial-basis function for nonlinear compensation and an iterative learning control scheme. The mathematical model for a permanent magnet linear motor is first presented on which the control designs are based. Theoretical analysis as well as full experimental results are provided for the control schemes. Practical issues in the overall implementation of a precision motion control system are also highlighted.