Lin, C. -L; Shieh, N.C.; Tung, P.C., "Robust wavelet neuro control for linear brushless motors," Aerospaceand Electronic Systems, IEEE Transactions on , vol.38, no.3, pp.918,932, Jul 2002doi: 10.1109/TAES.2002.1039408Abstract: Design, simulation and experimental implementation of a wavelet basis function networklearning controller for linear brushless dc motors (LBDCM) are considered. Stability robustness withposition tracking is the primary concern. The proposed controller deals mainly with external disturbances,e.g. nonlinear friction force and payload variation in motion control of linear motors. It consists of twoparts, one is a state feedback component, and the other one is a learning feedback component. The statefeedback controller is designed on the basis of a simple linear model, and the learning feedbackcomponent is a wavelet neural controller. The attenuation effect of wavelet neural networks on frictionforce is first verified by the numerical method. The learning effect of wavelet neural networks on frictionforce is also shown in the numerical results. Then, a wavelet neural network is applied on a real LBDCMto on-line suppress the friction force, which may be variable due to the different lubrication. Theeffectiveness of the proposed control schemes is demonstrated by simulated and experimental results.keywords: {brushless DC motors;linear motors;neurocontrollers;position control;robust control;statefeedback;wavelet transforms;LBDCM;attenuation effect;external disturbances;friction force;learningfeedback component;linear brushless motors;lubrication;motion control;nonlinear friction force;payloadvariation;position tracking;robust wavelet neuro control;stability robustness;state feedbackcomponent;wavelet basis function network;Brushless DC motors;Brushless motors;Friction;Linearfeedback control systems;Motion control;Neural networks;Neurofeedback;Robust control;Robuststability;State feedback},URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=1039408&isnumber=22279