Inverse-backlash-compensation neural network nonlinear predictive control and simulation

被引：0

作者：

Wei, D ^{[1
]}

Zhang, ML ^{[1
]}

机构：

[1] Beijing Inst Civil Engn & Architecture, Dept Elect Engn & Automat, Beijing 100044, Peoples R China

来源：

SYSTEM SIMULATION AND SCIENTIFIC COMPUTING, VOLS 1 AND 2, PROCEEDINGS | 2005年

关键词：

neural networks; nonlinearity; backlash; predictive control; modelling; simulation;

D O I：

暂无

中图分类号：

TP39 [计算机的应用];

学科分类号：

081203 ; 0835 ;

摘要：

A discrete-time predictive inversion compensation scheme has been studied for backlash compensation in nonlinear systems. The controller uses the dynamic inversion technique with neural networks for inverting the backlash nonlinearity in the feed-forward path. The neural network controller is trained with multi-step predictive optimization algorithm. Another neural network is used for constructing the predictive model. It is not necessary for control designers to have accurate information about the plant dynamics. Results are presented from the application of such a control scheme to a nonlinear system with backlash input. It is found to be very efficient at cancelling the deleterious effects of actuator backlash.

引用

页码：1165 / 1169

页数：5