Tracking control of a two-axis motion system via a filtering-type sliding-mode control with radial basis function network

In this paper, a filtering-type sliding-mode control with a radial basis function network (FSCRBFN) for a two-axis motion control system, which consists of two permanent magnet linear synchronous motors (PMLSMs), is proposed. First, the dynamics of the single-axis motion system with a lumped uncertainty which contains parameter variations, external disturbances, cross-coupled interference and nonlinear friction force is derived. Next, a filtering-type sliding-mode control (FSC) is adopted for the two-axis motion control system to confront the lumped uncertainty. Then, to improve the control performance in contour tracking, the FSCRBFN control approach is developed. In the control approach, a radial basis function network (RBFN) is employed mainly to estimate the lumped uncertainty. Moreover, the proposed control approach is performed on a digital signal process (DSP)-based control system using TMS320C32. Finally, some experimental results are illustrated to show the validity of the proposed control approach.