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Adaptive Prescribed Performance Motion Control of Servo Mechanisms with Friction Compensation
Abstract
This paper proposes an adaptive control for a class of nonlinear mechanisms with guaranteed transient and steady-state performance. A performance function characterizing the convergence rate, maximum overshoot, and steady-state error is used for the output error transformation, such that stabilizing the transformed system is sufficient to achieve the tracking control of the original system with a priori prescribed performance. A continuously differentiable friction model is adopted to account for the friction nonlinearities, for which primary model parameters are online updated. A novel high-order neural network with only a scalar weight is developed to approximate unknown nonlinearities and to dramatically diminish the computational costs. Comparative experiments on a turntable servo system are included to verify the reliability and effectiveness.
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Cited by
Cui, R., Yang, C., Li, Y., & Sharma, S. (2017) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2016.2645699 · Cited by 538
Manipulability Optimization of Redundant Manipulators Using Dynamic Neural Networks
Jin, L., Li, S., La, H. M., & Luo, X. (2017) · IEEE Transactions on Industrial Electronics · doi:10.1109/tie.2017.2674624 · Cited by 382
Neural Networks-Based Adaptive Control for Nonlinear State Constrained Systems With Input Delay
Li, D.-P., Liu, Y.-J., Tong, S., Chen, C. L. P., & Li, D.-J. (2019) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2018.2799683 · Cited by 382
Adaptive Neural Control of Uncertain Nonlinear Systems Using Disturbance Observer
Chen, M., Shao, S.-Y., & Jiang, B. (2017) · IEEE Transactions on Cybernetics · doi:10.1109/tcyb.2017.2667680 · Cited by 292
RISE-Based Asymptotic Prescribed Performance Tracking Control of Nonlinear Servo Mechanisms
Wang, S., Na, J., & Ren, X. (2018) · IEEE Transactions on Systems, Man, and Cybernetics: Systems · doi:10.1109/tsmc.2017.2769683 · Cited by 159
Self-citation
Metadata
- Authors
- Na, J., Chen, Q., Ren, X., & Guo, Y.
- Venue
- IEEE Transactions on Industrial Electronics
- Published
- 2014-01
- Volume
- 61
- Issue
- 1
- Pages
- 486-494
- ISSN
- 0278-0046 (ISSN-L)
- 1557-9948
- OpenAlex
- W1988876996
- Cited by
- 523
- References
- 0
- FWCI
- 28.93
- Type
- journal article
- Language
- en
- Open access
- closed
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- Na, J., Chen, Q., Ren, X., & Guo, Y. (2014). Adaptive Prescribed Performance Motion Control of Servo Mechanisms with Friction Compensation. IEEE Transactions on Industrial Electronics. https://doi.org/10.1109/tie.2013.2240635
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