Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation

Shubo Wang, Haisheng Yu, Xuehui Gao and Na Wang

Complexity, 2018, vol. 2018, 1-10

Abstract:

This paper proposes an adaptive barrier controller for servomechanisms with friction compensation. A modified LuGre model is used to capture friction dynamics of servomechanisms. This model is incorporated into an augmented neural network (NN) to account for the unknown nonlinearities. Moreover, a barrier Lyapunov function (BLF) is utilized to each step in a backstepping design procedure. Then, a novel adaptive control method is well suggested to ensure that the full-state constraints are within the given boundary. The stability of the closed-loop control system is proved using Lyapunov stability theory. Comparative experiments on a turntable servomechanism confirm the effectiveness of the devised control method.

Date: 2018
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Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:8925838

DOI: 10.1155/2018/8925838

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