Robust neural network controller design for a biaxial servo system

A robust control method for synchronizing a biaxial servo system motion is proposed in this paper. A new neural network based cross-coupled control and neural network techniques are used together to cancel out the skew error. In the proposed control scheme, the conventional fixed gain PID cross-coupled controller (PIDCCC) is replaced with the neural network cross-coupled controller (NNCCC) to maintain biaxial servo system synchronization motion. In addition, neural network PID position velocity and velocity controllers provide the necessary control actions to maintain synchronization while following a variable command trajectory. This scheme provides strong robustness with respect to uncertain dynamics and nonlinearities. The simulation results reveal that the proposed control structure adapts to a wide range of operating conditions and provides promising results under parameter variations and load changes.