Robust Fuzzy Neural Network Based Control for Mechatronic Servo Systems with High Nonlinearity
Bibliographic Information
- Other Title
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- 非線形メカトロサーボ系におけるロバストなファジィ・ニューラルネットワークベースト制御(第1報,シミュレーションおよび実験による検証)
- ヒセンケイ メカトロサーボケイ ニ オケル ロバスト ナ ファジィ ニューラル ネットワーク ベースト セイギョ ダイ1ポウ シミュレーション オヨビ ジッケン ニ ヨル ケンショウ
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Abstract
This paper proposes a novel robust fuzzy-neural network based control for the mechatoronic positioning servo systems that have nonlinear characteristics such as friction, backlash, variations of load and system parameters, and unknown disturbances. The proposed fuzzy-neural network based control scheme consists of three elements : a) a feedback compensation of velocity and position : b) a feedforward compensation which has inverse dynamics of the PD controlled plant based on neural networks ; and c) a nonlinear deviation compensator based on fuzzy neural networks. Computational and experimental results for one degree-of-freedom positioning system are shown to confirm the validity of the proposed controller.
Journal
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- TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
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TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 69 (687), 2929-2936, 2003
The Japan Society of Mechanical Engineers
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Details 詳細情報について
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- CRID
- 1390001206356125440
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- NII Article ID
- 130004234947
- 110002379219
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- NII Book ID
- AN00187463
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- ISSN
- 18848354
- 03875024
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- NDL BIB ID
- 6775748
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed