Abstract
This paper proposes a novel adaptive sliding mode H-infinity control (ASMHC) via self-evolving function-link interval type-2 Petri fuzzy-neural-network (SEFLIT2PFNN) for XY-stage motion control system driven through two linear synchronous motors servo drives. The ASMHC approach includes a sliding-mode controller (SMC), a robust H-infinity controller, and an SEFLIT2PFNN estimator. In the ASMHC design, the SMC technique is employed as it has rapid dynamic response with an invariance capability against uncertain dynamics, the SEIT2FLFNN estimator is utilized for approximating the uncertain nonlinear functions of the XY-stage and the H-infinity controller is developed for compensating the effects of the SEFLIT2PFNN approximation errors and external disturbances at a definite attenuation level. Furthermore, H-infinity control theory and Lyapunov stability analysis are employed for online adaptive control laws, so that the stability of the ASMHC scheme can be assured. The validity of the proposed control system is verified by experimental analysis. The dynamic response of the XY-stage motion control system using ASMHC promises closed-loop stability and promises the H-infinity tracking performance for the whole system. The experimental validation results endorsed that the proposed ASMHC has robust control response even the presence of system disturbances and parameter uncertainties.