Robust neural network controller design for permanent magnet spherical stepper motor

There are many uncertainties and disturbances in real dynamics system of spherical stepper motor that make traditional control methods with lower precision. Based on the non-linear system dynamic model under continuous trajectory tracking mode, the robust neural network control scheme is presented to eliminate uncertainties to improve the trajectory tracking robust stability and overcome the undesired influence of the uncertainties. Finally, simulations of the proposed controller on the spherical stepper motor system demonstrate the effectiveness on satisfactory tracking performance.