|Radial Basis Function Neural Network based Adaptive Fast Nonsingular Terminal Sliding Mode Controller for Piezo Positioning Stage
To Xuan Dinh and Kyoung Kwan Ahn*
International Journal of Control, Automation, and Systems, vol. 15, no. 6, pp.2892-2905, 2017
Abstract : "This paper presents an adaptive fast nonsingular terminal sliding mode control base on a neural network
based approximation technique to control the position of a piezo positioning stage (PSS). The proposed terminal
sliding mode control can provide faster convergence and higher precision control while maintain its robustness to
uncertainties. In the proposed control scheme, the combination of the fast-nonsingular terminal sliding mode control
and neural network, which can precisely estimate the uncertainties in dynamic of the PSS system by employing an
online tuning scheme, is a promising control approach for actuator systems. In addition, the robust control term
is adopted to compensate the modeling error and ensure the robustness corresponding to a bounded disturbance.
Stability of the closed loop system is analyzed and proved by using special Lyapunov functions. Experiment results
strongly confirm the effectiveness of the proposed control method."
Fast nonsingular terminal sliding mode, neural network, piezo positioning stage, robust control.