DocumentCode
294336
Title
CMAC network-based robust controller for systems with friction
Author
Lee, Seon-Woo ; Kim, Jong-Hwan
Author_Institution
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Volume
3
fYear
1995
fDate
13-15 Dec 1995
Firstpage
2938
Abstract
In this paper, a robust tracking control scheme is proposed for compensation of the friction in a mechanical servo system. The friction forces are identified by a CMAC network whose weights are adjusted by an adaptation algorithm derived from a Lyapunov function. Experimental result demonstrates the effectiveness of the proposed scheme
Keywords
adaptive control; cerebellar model arithmetic computers; closed loop systems; compensation; friction; mechanical variables control; neurocontrollers; position control; robust control; servomechanisms; variable structure systems; CMAC network-based robust controller; Lyapunov function; adaptation algorithm; compensation; friction; mechanical servo system; robust tracking control scheme; sliding control; Adaptive control; Control systems; Error correction; Force control; Friction; Lyapunov method; Mechanical systems; Robust control; Servomechanisms; Weight control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.478589
Filename
478589
Link To Document