Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/70043
標題: Fuzzy-enhanced adaptive control for flexible drive system with friction using genetic algorithms
作者: Lin, L.C.
Lin, Y.J.
關鍵字: flexible drive system
fuzzy-enhanced adaptive control
genetic
algorithms
friction control
stick-slip
coulomb-friction
design
compensation
simulation
motion
model
期刊/報告no:: Journal of Intelligent & Robotic Systems, Volume 23, Issue 2-4, Page(s) 379-405.
摘要: When a mechatronic system is in slow speed motion, serious effect of nonlinear friction plays a key role in its control design. In this paper, a stable adaptive control for drive systems including transmission flexibility and friction, based on the Lyapunov stability theory, is first proposed. For ease of design, the friction is fictitiously assumed as an unknown disturbance in the derivation of the adaptive control law Genetic algorithms are then suggested for learning the structure and parameters of the fuzzy-enhancing strategy for the adaptive control to improve system's transient performance and robustness with respect to uncertainty. The integrated fuzzy-enhanced adaptive control is well tested via computer simulations using the new complete dynamic friction model recently suggested by Canudas de Wit et al. for modeling the real friction phenomena. Much lower critical velocity of a flexible drive system that determines system's low-speed performance bound can be obtained using the proposed hybrid control strategy.
URI: http://hdl.handle.net/11455/70043
ISSN: 0921-0296
文章連結: http://dx.doi.org/10.1023/a:1008073402905
Appears in Collections:期刊論文

文件中的檔案:

取得全文請前往華藝線上圖書館



Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.