Ga. Larsen et al., CMAC NEURAL-NETWORK CONTROL FOR HIGH-PRECISION MOTION CONTROL IN THE PRESENCE OF LARGE FRICTION, Journal of dynamic systems, measurement, and control, 117(3), 1995, pp. 415-420
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.