Classical and intelligent based control method for positioning systems

This paper introduces enhancement and improvement of a practical nominal characteristic trajectory following (NCTF) controller for two-mass point-to-point rotary positioning systems. The NCTF controller consists of a nominal characteristic trajectory as a movement reference and a compensator that is employed in order to force the target motion to track and follow the reference trajectory as closely and as fast as possible. We start from the results presented in [1], and we extend the NCTF control concept with two different compensator based on intelligent based methods: fuzzy logic and an extended minimal resource allocation network, with including notch filter for vibration elimination. The proposed intelligent based NCTF controllers are evaluated and compared with classical proportional integral compensator, and discussed thoroughly in terms of simulation results for the positioning performances. The robustness of the controllers to inertia variations under the effect of the design parameters is evaluated and compared.