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- 奥山 淳
- 東海大学工学部精密工学科
書誌事項
- タイトル別名
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- Friction Compensation Control to Achieve Pre-specified Transient and Steady-state Performance
- アラカジメ シテイ サレタ カト セイノウ ト テイジョウ セイノウ オ ジツゲン スル マサツ ホショウ セイギョ
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説明
<p>A friction compensation control method based on funnel control has been developed that achieves a pre-specified transient and steady-state performance. The proposed control method has the following features: (1) the controller is designed using a backstepping method, (2) the friction characteristic is represented by the LuGre model, (3) the nonlinear characteristic of the LuGre model is approximated by a neural network, and (4) the weights of the neural network are estimated adaptively. To verify the effectiveness of the proposed control method, experiments were performed using a positioning stage. As a result, it was confirmed that the proposed control method could achieve the pre-specified transient and steady-state performance even when the dynamic behavior of nonlinear friction changed.</p>
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 140 (10), 782-790, 2020-10-01
一般社団法人 電気学会
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キーワード
詳細情報 詳細情報について
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- CRID
- 1390567172583763968
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- NII論文ID
- 130007920878
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 030688465
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可