Neural Network Based Adaptive Robust Control of a Single-Axis Hydraulic Shaking Table

The shaking table has been used extensively in the structure test field to verify the structure’s performance against various vibrations, e.g., earthquakes. In order to replicate the vibrations, which are measured by the acceleration signal specifically, the model of the shaking table should be thoroughly constructed to design the controller. However, parametric uncertainty and strong nonlinearity, such as the nonlinear friction, make it an obstacle to obtaining an accurate model. A neural network-based controller is designed in this paper to address this issue, and the nonlinear systems are estimated by the neural network’s universal approximation characteristics. Furthermore, a robust sliding mode controller is utilized to compensate for the residual error of the neural network and other uncertainties. The semi-global asymptotic stability of the controller is proved by Lyapunov analysis. Comparative experimental results indicate the superiority of the proposed controller.