Abstract
This paper proposes a control method of a rigid body motion system which includes unknown nonlinearity by using motion learning.Defining the motion learning as achievement of objective motion control by obtaining the model of motion system, the proposed control structure consists of feedback controllers to stabilize the unstable motion system, a motion learning system to obtain nonlinear model and to linearize the motion system by using the obtained nonlinear model, and an inverse motion system to generate inputs to be applied to the linearized motion system.The obtained model is described as series of weighted basis functions, and the explicit learning rules of weights are derived by using Popov's hyperstable theory.The tuning rules of feedback gains are determined by using the obtained nonlinear models.Futher, this paper shows the high performance of the proposed method by demonstrating an experiment of the tracking desired trajectory in the electromagnetic levitation and positioning system.
