Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System
High-precision trajectory control is considered as an important factor in the performance of industrial two-axis contour motion systems. This research presents an adaptive direct fuzzy cerebellar model articulation controller (CMAC) sliding mode control (DFCMACSMC) for the precise control of the ind...
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MDPI AG
2021-11-01
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| Series: | Energies |
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| Online Access: | https://www.mdpi.com/1996-1073/14/22/7802 |
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| author | Wei-Lung Mao Yu-Ying Chiu Bing-Hong Lin Wei-Cheng Sun Jian-Fu Tang |
| author_facet | Wei-Lung Mao Yu-Ying Chiu Bing-Hong Lin Wei-Cheng Sun Jian-Fu Tang |
| author_sort | Wei-Lung Mao |
| collection | DOAJ |
| description | High-precision trajectory control is considered as an important factor in the performance of industrial two-axis contour motion systems. This research presents an adaptive direct fuzzy cerebellar model articulation controller (CMAC) sliding mode control (DFCMACSMC) for the precise control of the industrial XY-axis motion system. The FCMAC was utilized to approximate an ideal controller, and the weights of FCMAC were on-line tuned by the derived adaptive law based on the Lyapunov criterion. With this derivation in mind, the asymptotic stability of the developed motion system could be guaranteed. The two-axis stage system was experimentally investigated using four contours, namely, circle, bowknot, heart, and star reference contours. The experimental results indicate that the proposed DFCMACSMC method achieved the improved tracking capability, and so reveal that the DFCMACSMC scheme outperformed other schemes of the model uncertainties and cross-coupling interference. |
| first_indexed | 2024-03-10T05:31:20Z |
| format | Article |
| id | doaj.art-3f46df5e8e5c41d28c7ef84bf1da1ab3 |
| institution | Directory Open Access Journal |
| issn | 1996-1073 |
| language | English |
| last_indexed | 2024-03-10T05:31:20Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Energies |
| spelling | doaj.art-3f46df5e8e5c41d28c7ef84bf1da1ab32023-11-22T23:13:37ZengMDPI AGEnergies1996-10732021-11-011422780210.3390/en14227802Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position SystemWei-Lung Mao0Yu-Ying Chiu1Bing-Hong Lin2Wei-Cheng Sun3Jian-Fu Tang4Department of Electrical Engineering, Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou 64002, TaiwanDepartment of Electrical Engineering, Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou 64002, TaiwanDepartment of Electrical Engineering, Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou 64002, TaiwanDepartment of Electrical Engineering, Graduate School of Engineering Science and Technology, National Yunlin University of Science and Technology, 123 University Road, Section 3, Douliou 64002, TaiwanDepartment of Electro-Optical Engineering, National Taipei University of Technology, Taipei 10608, TaiwanHigh-precision trajectory control is considered as an important factor in the performance of industrial two-axis contour motion systems. This research presents an adaptive direct fuzzy cerebellar model articulation controller (CMAC) sliding mode control (DFCMACSMC) for the precise control of the industrial XY-axis motion system. The FCMAC was utilized to approximate an ideal controller, and the weights of FCMAC were on-line tuned by the derived adaptive law based on the Lyapunov criterion. With this derivation in mind, the asymptotic stability of the developed motion system could be guaranteed. The two-axis stage system was experimentally investigated using four contours, namely, circle, bowknot, heart, and star reference contours. The experimental results indicate that the proposed DFCMACSMC method achieved the improved tracking capability, and so reveal that the DFCMACSMC scheme outperformed other schemes of the model uncertainties and cross-coupling interference.https://www.mdpi.com/1996-1073/14/22/7802direct fuzzy cmac sliding mode control (DFCMACSMC)permanent magnet synchronous motor (PMSM)precision motion controlposition feedback sensortrajectory tracking control |
| spellingShingle | Wei-Lung Mao Yu-Ying Chiu Bing-Hong Lin Wei-Cheng Sun Jian-Fu Tang Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System Energies direct fuzzy cmac sliding mode control (DFCMACSMC) permanent magnet synchronous motor (PMSM) precision motion control position feedback sensor trajectory tracking control |
| title | Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System |
| title_full | Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System |
| title_fullStr | Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System |
| title_full_unstemmed | Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System |
| title_short | Direct Fuzzy CMAC Sliding Mode Trajectory Tracking for Biaxial Position System |
| title_sort | direct fuzzy cmac sliding mode trajectory tracking for biaxial position system |
| topic | direct fuzzy cmac sliding mode control (DFCMACSMC) permanent magnet synchronous motor (PMSM) precision motion control position feedback sensor trajectory tracking control |
| url | https://www.mdpi.com/1996-1073/14/22/7802 |
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