Robust Tracking Control of Flexible Joint with Nonlinear Friction and Uncertainties Using Wavelet Neural Networks

被引：4

作者：

Chu Ming ^{[1
]}

Jia Qing-xuan ^{[1
]}

Sun Han-xu ^{[1
]}

机构：

[1] Beijing Univ Posts & Telecommun, Beijing 100088, Peoples R China

来源：

ICICTA: 2009 SECOND INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTATION TECHNOLOGY AND AUTOMATION, VOL I, PROCEEDINGS | 2009年

关键词：

flexible joint; robust control; nonlinear friction compensation; wavelet neural networks;

D O I：

10.1109/ICICTA.2009.219

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A new combination method for the robust high precision position control of flexible joint with nonlinear friction and uncertainties compensation is proposed in this paper. The global control system is designed based on backstepping like technique in order to suppress the flexibility and disturbance, and the wavelet neural networks approach is utilized especially to estimate the nonlinear terms including friction and uncertainties locally without predicting the upper bound. From the Lyapunov stability analysis, adaptive laws which are used to update the network weights are induced. The stability of the overall closed loop system is proved to be UUB stable. Finally, the computor simulation results show the good position tracking performance and robustness of the proposed control strategy.

引用

页码：878 / 883

页数：6

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