Robust Tracking Control of Flexible Joint with Nonlinear Friction and Uncertainties Using Wavelet Neural Networks
A new combination method for the robust high precision position control of flexible joint with nonlinear friction and uncertainties compensation is proposed in this paper. The global control system is designed based on backste pping like technique in order to suppress the flexibility and disturbance,and the wavelet neural networks approach is utilized especially to estimate the nonlinear terms including friction and uncertainties locally without predicting the upper bound. From the Lyapunov stability analysis, adaptive laws which are used to update the network weights are induced. The stability of the overall closed loop system is proved to be UUB stable. Finally, the computor simulation results show the good position tracking performance and robustness of the proposed control strategy.
flexible joint robust control nonlinear friction compensation wavelet neural networks
Chu Ming Jia Qing-xuan Sun Han-xu
Beijing University of Posts and Telecommunications Beijing, China
国际会议
长沙
英文
878-883
2009-10-10（万方平台首次上网日期，不代表论文的发表时间）