Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation
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 b...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/8925838 |
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| _version_ | 1832548661244985344 |
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| author | Shubo Wang Haisheng Yu Xuehui Gao Na Wang |
| author_facet | Shubo Wang Haisheng Yu Xuehui Gao Na Wang |
| author_sort | Shubo Wang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-256050f51d38412ba37431140fc2576f |
| institution | Kabale University |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-256050f51d38412ba37431140fc2576f2025-02-03T06:13:27ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/89258388925838Adaptive Barrier Control for Nonlinear Servomechanisms with Friction CompensationShubo Wang0Haisheng Yu1Xuehui Gao2Na Wang3College of Automation and Electrical Engineering, Qingdao University, Qingdao 266071, ChinaCollege of Automation and Electrical Engineering, Qingdao University, Qingdao 266071, ChinaDepartment of Mechanical and Electrical Engineering, Shandong University of Science and Technology, Tai’an 2701019, ChinaCollege of Automation and Electrical Engineering, Qingdao University, Qingdao 266071, ChinaThis 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.http://dx.doi.org/10.1155/2018/8925838 |
| spellingShingle | Shubo Wang Haisheng Yu Xuehui Gao Na Wang Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation Complexity |
| title | Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation |
| title_full | Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation |
| title_fullStr | Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation |
| title_full_unstemmed | Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation |
| title_short | Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation |
| title_sort | adaptive barrier control for nonlinear servomechanisms with friction compensation |
| url | http://dx.doi.org/10.1155/2018/8925838 |
| work_keys_str_mv | AT shubowang adaptivebarriercontrolfornonlinearservomechanismswithfrictioncompensation AT haishengyu adaptivebarriercontrolfornonlinearservomechanismswithfrictioncompensation AT xuehuigao adaptivebarriercontrolfornonlinearservomechanismswithfrictioncompensation AT nawang adaptivebarriercontrolfornonlinearservomechanismswithfrictioncompensation |