Autotuning Controller for Motion Control System Based on Intelligent Neural Network and Relay Feedback Approach

In this paper, we introduce a proportional-integral-derivative (PID) autotuning controller using an intelligent neural network control based on the relay feedback approach. The proposed controller takes advantage of offline learning and self-learning capability of the online control strategy, in which the initial knowledge of the control system is recognized by the relay feedback approach, and the online learning capability of the neural network controller helps the control system respond quickly to the dynamics changes. Furthermore, the proposed control algorithms are implemented in the high performance digital signal processor TMS320F28335. The robustness and motion tracking performance are validated through simulation and experimental results.