Integrated Direct/Indirect Adaptive Robust Precision Control of Linear Motor Drive Systems with Accurate Parameter Estimations

Abstract

The focus of the paper is on the synthesis of nonlinear adaptive robust controllers for precision linear motor drive systems that achieve not only excellent output tracking performance but also accurate parameter estimations for secondary purposes such as machine health monitoring and prognostics. Such an objective is accomplished through the intelligent integration of the output tracking performance oriented direct adaptive robust control (DARC) design with the accurate parameter estimation based indirect adaptive robust control (IARC) design. Comparative experimental results demonstrate that the proposed DIARC controller is able to achieve better tracking performance and better parameter estimation than either the DARC or the IARC algorithms.