Wang, Shubo

Ren, Xuemei

Na, Jing

Li, Dongwu

In this paper, a novel robust controller is proposed for servo mechanisms with nonlinear friction and external disturbance. First, a continuously differentiable friction model is used to represent the nonlinear friction, and neural network (NN) is employed to approximate the nonlinear friction and external disturabance. Then, a novel robust controller is designed by using robust integral of the sign of the error (RISE) term. In order to reduce the measure noise, a desired compensation method is utilized in controller design, in which the model compensation term depends on the reference signal only. The stability of closed-loop is proved based on Lyapunov stability theory, and all signal are proved to be bounded simultaneously. Finally, comparative simulations based on a turnable servo system are implemented to validate the efficacy of the proposed method.</p

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Robust Integral of Sign of Error and Neural Network Control for Servo System with Continuous Friction

Anonymous

Biblioteca Digital de la Comunidad de Madrid

Boletín oficial de la provincia de Madrid: 22/09/1924

Shubo Wang

Xuemei Ren

Jing Na

Dongwu Li

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https://research-information.bristol.ac.uk/files/105378284/Na_J_Robust_Integral_of_Sign_of_Error_and_Neural_Network_Control.pdf

Robust Integral of Sign of Error and Neural Network Control for Servo System with Continuous Friction

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Biblioteca Digital de la Comunidad de Madrid

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