Adaptive Fuzzy Sliding Mode Control of a Drive System with Flexible Joint

Author

Kowalska, Teresa Orlowska ; Szabat, Krzysztof

Author_Institution

Wroclaw Univ. of Technol.

fYear

2006

fDate

6-10 Nov. 2006

Firstpage

994

Lastpage

999

Abstract

In the paper a robust control system with the fuzzy-neuro sliding mode controller was proposed. A model reference adaptive control structure was applied to a drive system with flexible connection between the motor and the load machine. The torsional vibrations were successfully suppressed in the control structure with only one basic feedback from the motor speed. The damping ability of the system was confirmed for the wide range of the system parameters and different types of the reference signals. The proposed control structure was investigated under simulation and experimental tests

Keywords

damping; fuzzy control; machine control; model reference adaptive control systems; motor drives; neurocontrollers; robust control; variable structure systems; vibrations; adaptive fuzzy sliding mode control; damping ability; drive system; flexible joint; fuzzy-neuro sliding mode controller; load machine; model reference adaptive control structure; motor; robust control system; torsional vibrations; Adaptive control; Control systems; Damping; Feedback; Fuzzy control; Fuzzy systems; Programmable control; Robust control; Sliding mode control; Vibration control;

fLanguage

English

Publisher

ieee

Conference_Titel

IEEE Industrial Electronics, IECON 2006 - 32nd Annual Conference on

Conference_Location

Paris

ISSN

1553-572X

Print_ISBN

1-4244-0390-1

Type

conf

DOI

10.1109/IECON.2006.347969

Filename

4153756