Title :
CMAC network-based robust controller for systems with friction
Author :
Lee, Seon-Woo ; Kim, Jong-Hwan
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
Abstract :
In this paper, a robust tracking control scheme is proposed for compensation of the friction in a mechanical servo system. The friction forces are identified by a CMAC network whose weights are adjusted by an adaptation algorithm derived from a Lyapunov function. Experimental result demonstrates the effectiveness of the proposed scheme
Keywords :
adaptive control; cerebellar model arithmetic computers; closed loop systems; compensation; friction; mechanical variables control; neurocontrollers; position control; robust control; servomechanisms; variable structure systems; CMAC network-based robust controller; Lyapunov function; adaptation algorithm; compensation; friction; mechanical servo system; robust tracking control scheme; sliding control; Adaptive control; Control systems; Error correction; Force control; Friction; Lyapunov method; Mechanical systems; Robust control; Servomechanisms; Weight control;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.478589
