Sensors, Vol. 19, Pages 3616: Micrometer Backstepping Control System for Linear Motion Single Axis Robot Machine Drive

Sensors, Vol. 19, Pages 3616: Micrometer Backstepping Control System for Linear Motion Single Axis Robot Machine Drive Sensors doi: 10.3390/s19163616 Authors: Chih-Hong Lin Kuo-Tsai Chang In order to cut down influence on the uncertainty disturbances of a linear motion single axis robot machine, such as the external load force, the cogging force, the column friction force, the Stribeck force, and the parameters variations, the micrometer backstepping control system, using an amended recurrent Gottlieb polynomials neural network and altered ant colony optimization (AACO) with the compensated controller, is put forward for a linear motion single axis robot machine drive system mounted on the linear-optical ruler with 1 um resolution. To achieve high-precision control performance, an adaptive law of the amended recurrent Gottlieb polynomials neural network based on the Lyapunov function is proposed to estimate the lumped uncertainty. Besides this, a novel error-estimated law of the compensated controller is also proposed to compensate for the estimated error between the lumped uncertainty and the amended recurrent Gottlieb polynomials neural network with the adaptive law. Meanwhile, the AACO is used to regulate two variable learning rates in the weights of the amended recurrent Gottlieb polynomials neural network to speed up the convergent speed. The main contributions of this paper are: (1) The digital signal processor (DSP)-based current-regulation pulse width modula...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research