Precision motion control of a small launching platform with disturbance compensation using neural networks

摘要

A kind of launching platform driven by two permanent magnet synchronous motors which is used to launch kinetic load to hit the target always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion which would degrade their tracking accuracy greatly. In this paper, a practical method which combines adaptive robust control with neural network-based disturbance observer is proposed for high-accuracy motion control of the launching platform. The proposed controller not only accounts for the parametric uncertainties but also takes the external disturbances into account. Adaptive control is designed to compensate the former, while neural network-based disturbance observer is designed to compensate the latter respectively and both of them are integrated together via a feedforward cancellation technique. A new kind of parametric adaptation and weight adaptation strategy is designed by using the linear combination of the system's tracking error and the weight estimation error as a driving signal for parametric adaptation and disturbance approximation. The stability of the novel control scheme is analyzed via a Lyapunov method and this method presents a prescribed output tracking performance in the presence of both parameter uncertainties and unmodeled nonlinearities. Extensive comparative simulation and experimental results are obtained to verify the high-performance of the proposed control strategy. Copyright (c) 2016 John Wiley & Sons, Ltd.