J-002

Two-Degree-of-Freedom Controller Incorporating RBF Adaptation for Precision Motion Control Applications

Authors: K. K. Tan, S. Y. Lim, S.N. Huang, T.H. Lee
Affiliation: National University of Singapore, Singapore

Abstract
This paper presents a composite control scheme for precision motion control with permanent magnet linear motors. The approach has been to view a nonlinear system as comprising of a predominantly linear part with an uncertain and nonlinear remnant. The linear portion is compensated with an optimal PID controller while the nonlinear portion is adaptively control using a radial-basis function tuned on-line.

Tan Kok Kiong
eletankk@nus.edu.sg