CMAC NEURAL-NETWORK CONTROL FOR HIGH-PRECISION MOTION CONTROL IN THE PRESENCE OF LARGE FRICTION

Precision requirements in ultra-precision machining are often given in the order of micrometers or sub-micrometers. Machining at these level s requires precise control of the position and speed of the machine to ol axes. Furthermore, in machining of brittle materials, extremely low feed rates of the machine tool axes are required. At these low feed r ates there is a large and erratic friction characteristic in the drive system which standard PID controllers are unable to deal with. In ord er to achieve the desired accuracies, friction must be accurately comp ensated in the real-time servo control algorithm. A learning controlle r based on the CMAC algorithm is studied for this task.