Title :
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
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;
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
DOI :
10.1109/ISIE.2009.5222559
