Adaptive barrier control for nonlinear servomechanisms with friction compensation (Q1791125)
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English | Adaptive barrier control for nonlinear servomechanisms with friction compensation |
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Adaptive barrier control for nonlinear servomechanisms with friction compensation (English)
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4 October 2018
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Summary: This paper proposes an adaptive barrier controller for servomechanisms with friction compensation. A modified LuGre model is used to capture friction dynamics of servomechanisms. This model is incorporated into an augmented Neural Network (NN) to account for the unknown nonlinearities. Moreover, a Barrier Lyapunov Function (BLF) is utilized to each step in a backstepping design procedure. Then, a novel adaptive control method is well suggested to ensure that the full-state constraints are within the given boundary. The stability of the closed-loop control system is proved using Lyapunov stability theory. Comparative experiments on a turntable servomechanism confirm the effectiveness of the devised control method.
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adaptive barrier controller
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servomechanisms with friction compensation
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modified LuGre model
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neural network
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barrier Lyapunov function (BLF)
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Lyapunov stability
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