Adaptive CMAC model reference control system for linear piezoelectric ceramic motor

In this study, we present a design method for a model reference control structure using a cerebellar model articulation controller (CMAC). Since the dynamic characteristics and motor parameters of the linear piezoelectric ceramic motor (LPCM) are highly nonlinear and time-varying. An adaptive CMAC model reference control system is proposed to control the position of the moving table of the LPCM to achieve high-precision position control with robustness. In order to guarantee the convergence of tracking error for periodic commands tracking, analytical methods based on a discrete-type Lyapunov function are proposed to determine the varied learning-rate parameters of the CMAC. Accurate tracking response and superior dynamic performance can be obtained because of the powerful on-line learning capability of the CMAC. Finally, the effectiveness of the proposed adaptive CMAC model reference control system is verified by experimental results in the presence of uncertainties.