Design of contour error coupling controller based on neural network friction compensation

DOI10.1155/2019/1420380MaRDI QIDQ2298055zbMATH OpenOpenAlexWikidataFDO

Authors Sanxiu Wang, Guang Chen, Yueli Cui

Publication date 20 February 2020

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license File:Creative commons license with attribution.png Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2019/1420380

Mathematics Subject Classification ID

Problems involving a system of particles with friction (70F40) Control of mechanical systems (70Q05) Adaptive control/observation systems (93C40)

Review text

Summary: In two-axis servo contour motion control, friction and various uncertainties unavoidably exist, reducing the contour control accuracy. This paper proposes a neural network contour error coupling control method based on LuGre friction compensation, which includes a contour error calculation model, single-axis computed torque controller (CTC), and neural network friction compensation controller. The LuGre friction model can describe servo system's complicated static and dynamic friction characteristics, and the RBF neural network has a universal approximation property to realize compensation control of friction. Simulation results indicate that the proposed contour error control method can effectively compensate for the effect of friction and improve contour control accuracy.

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Cites work

• Adaptive integral backstepping sliding mode control for opto-electronic tracking system based on modified LuGre friction model
• Neural network compensation control for mechanical systems with disturbances
• Unknown input observer-based robust adaptive funnel motion control for nonlinear servomechanisms

Cited in

(2)

• Advances in Neural Networks – ISNN 2005
• Advances in Neural Networks – ISNN 2005

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