Adaptive robust neural network controller for position tracking of AC servo drives

Author

Giap, Nguyen Hoang ; Kim, Jin-Hoon ; Kim, Hyun-Min ; Shin, Jin-Ho ; Kim, Won-Ho

Author_Institution

Grad. Sch., Dept. of Intell. Syst. Eng., Dong-eui Univ., Busan, South Korea

fYear

2009

fDate

5-8 July 2009

Firstpage

1767

Lastpage

1772

Abstract

The neural network with radial basis function is introduced for position tracking control of AC servo drive with the existence of system uncertainties. An adaptive robust term is applied to overcome the external disturbances. The proposed controller is implemented on a high performance digital signal processing DSP TMS320C6713-300. The stability and the convergence of the system are proved by Lyapunov theory. The validity and robustness of the controller are verified through simulation and experimental results.

Keywords

AC motor drives; Lyapunov methods; adaptive control; asymptotic stability; digital signal processing chips; machine control; neurocontrollers; position control; radial basis function networks; robust control; servomotors; tracking; uncertain systems; AC servo motor drive; Lyapunov theory; TMS320C6713-300 DSP; adaptive robust neural network controller; asymptotic stability; high-performance digital signal processing; position tracking control; radial basis function network; system uncertainty; Adaptive control; Adaptive systems; Control systems; Digital signal processing; Neural networks; Programmable control; Robust control; Robustness; Servomechanisms; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on

Conference_Location

Seoul

Print_ISBN

978-1-4244-4347-5

Electronic_ISBN

978-1-4244-4349-9

Type

conf

DOI

10.1109/ISIE.2009.5222559

Filename

5222559