INTELLIGENCE CONTROL FOR FRICTION COMPENSATION IN PRECISION POINTING AND TRACKING SYSTEM

摘要：

In order to compensate for the influence of friction in the coarse pointing subsystem of the precision pointing and tracking system, an adaptive RBK terminal sliding mode control was proposed, and GA (Genetic Algorithm) was applied off line to parameter identification of the friction model. A terminal sliding mode controller was used to obtain a stable and fast trajectory first, then the upper bound of friction was estimated through an adaptive RBF neural network. The system was proved to be stable and the parameters are proved to be bounded under the control scheme of this paper, using Lyapunov methodology. At last, simulation results show the highly robust and efficient controller design.

关键词： Laser tracking Neural networks Terminal sliding mode Friction compensation Genetic algorithm

作者: LI QIN MING YANG

作者单位: Control and Simulation Centre.Harbin Institute of Technology, Harbin, 150001, China

会议类型: 国际会议

会议名称: 2008 International Conference on Machine Learning and Cybernetics(2008机器学习与控制论国际会议)

会议地点: 昆明

会议语种:英文

页码: 2015-2019

在线出版日期: 2008-07-12（万方平台首次上网日期，不代表论文的发表时间）