Finite-Time Synergetic Control of Mechanical System Based on Model-Free Friction Compensation

摘要：

　　In this paper,a finite-time synergetic control scheme is proposed for a class of mechanical systems with friction compensation problem.Since the nonlinear parts in the friction model is difficult to be known in prior accurately,two neural networks are employed to approximate the static function and dynamic function of the friction model,respectively.Then,a finite-time synergetic controller is developed by combining synergetic control theory and nonsingular terminal sliding mode technique.The proposed control scheme can guarantee the finite-time convergence of tracking errors and avoid the singularity problem.Simulation results are provided to verify the effectiveness of the proposed scheme.

关键词： Finite-time control Synergetic control Friction compensation Mechanical system

作者: Shuangpo Zhai Qiang Chen Xiaoqing Tang

作者单位: Zhejiang University of Technology,Hangzhou 310023,Zhejiang,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 275-284

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）