Robust backstepping RWNN control for a linear synchronous motor drive

The control performance of linear synchronous motor (LSM) drive system is seriously influenced in the practical application due to uncertainties effect, the robust backstepping control system using recurrent wavelet neural network (RWNN) uncertainty observer is proposed to increase the robustness of the LSM drive. First, the field-oriented mechanism is applied to formulate the dynamic equation of the LSM servo drive. Then, the robust backstepping approach is proposed to control the motion of LSM drive system. With proposed robust backstepping control system, the mover position of the LSM drive possesses the advantages of good transient control performance and robustness to uncertainties for the tracking of periodic reference trajectories. Moreover, to further increase the robustness of the LSM drive, an adaptive RWNN uncertainty observer is proposed to estimate the required lumped uncertainty. The effectiveness of the proposed control scheme is verified by experimental results.