A High Precision Positioning Control Method Based on Learning Algorithm with Reference Model
In this paper, a high precision positioning control method based on the learning algorithm with the reference model is proposed. The reference model is composed of a plant model and a feedback controller. In the proposed control method, disturbance, modeling error and nonlinear characteristic can be effectively compensated by the neural network-based controller, which learns the reference model. Moreover, the control-input saturation problem due to the over-learning for the neural network can be avoided. The effectiveness of the proposed control method is experimentally verified using the precision positioning equipment with nonlinear friction characteristics.
K. Nakajima et al., "A High Precision Positioning Control Method Based on Learning Algorithm with Reference Model", Advanced Materials Research, Vols. 211-212, pp. 671-675, 2011