Journal ArticleDOI
Precise Positioning of Nonsmooth Dynamic Systems Using Fuzzy Wavelet Echo State Networks and Dynamic Surface Sliding Mode Control
Soonshin Han,Jae-Oh Lee +1 more
Reads0
Chats0
TLDR
A precise positioning robust hybrid intelligent control scheme based on the effective compensation of nonsmooth nonlinearities, such as friction, deadzone, and uncertainty in a dynamic system is presented.Abstract:
This paper presents a precise positioning robust hybrid intelligent control scheme based on the effective compensation of nonsmooth nonlinearities, such as friction, deadzone, and uncertainty in a dynamic system. A new adaptive fuzzy wavelet echo state network algorithm is proposed to improve performance in terms of approximating unknown uncertainties in conventional neural network algorithms. A strict feedback controller and adaptive laws for estimating the unknown friction and deadzone parameters were developed using the recursive steps of dynamic surface control and a sliding mode control based on Lyapunov stability theory. Lyapunov stability analysis confirmed the boundedness and convergence of the closed-loop system. The performance of the proposed control scheme was validated experimentally by applying it to the precise positional control of a robot manipulator.read more
Citations
More filters
Journal ArticleDOI
Observed-Based Adaptive Fuzzy Decentralized Tracking Control for Switched Uncertain Nonlinear Large-Scale Systems With Dead Zones
TL;DR: An adaptive fuzzy decentralized output-feedback tracking control approach is developed for the switched subsystems and the stability of the whole closed-loop system is proved by using the Lyapunov function and the average dwell-time methods.
Journal ArticleDOI
Fuzzy Approximation-Based Adaptive Backstepping Optimal Control for a Class of Nonlinear Discrete-Time Systems With Dead-Zone
TL;DR: An adaptive fuzzy optimal control design is addressed for a class of unknown nonlinear discrete-time systems that contain unknown functions and nonsymmetric dead-zone and can be proved based on the difference Lyapunov function method.
Journal ArticleDOI
Neural Network Control of a Robotic Manipulator With Input Deadzone and Output Constraint
TL;DR: In this paper, adaptive neural network tracking control of a robotic manipulator with input deadzone and output constraint is presented, where adaptive neural networks are used to approximate the deadzone function and the unknown model of the robotic manipulators.
Journal ArticleDOI
Robot manipulator control using neural networks: A survey
TL;DR: The problem foundation of manipulator control and the theoretical ideas on using neural network to solve this problem are analyzed and then the latest progresses on this topic in recent years are described and reviewed in detail.
Journal ArticleDOI
Adaptive Fuzzy Output Feedback Control for Switched Nonstrict-Feedback Nonlinear Systems With Input Nonlinearities
TL;DR: A novel adaptive fuzzy output feedback tracking control design method with the parameters adaptation laws is developed and the stability of the closed-loop system and the convergence of the tracking error are proved based on Lyapunov function and the average dwell-time methods.
References
More filters
Book
Applied Nonlinear Control
TL;DR: Covers in a progressive fashion a number of analysis tools and design techniques directly applicable to nonlinear control problems in high performance systems (in aerospace, robotics and automotive areas).
Journal ArticleDOI
Backpropagation through time: what it does and how to do it
TL;DR: This paper first reviews basic backpropagation, a simple method which is now being widely used in areas like pattern recognition and fault diagnosis, and describes further extensions of this method, to deal with systems other than neural networks, systems involving simultaneous equations or true recurrent networks, and other practical issues which arise with this method.
Journal ArticleDOI
A new model for control of systems with friction
TL;DR: A new dynamic model for friction is proposed that captures most of the friction behavior that has been observed experimentally, including the Stribeck effect, hysteresis, spring-like characteristics for stiction, and varying break-away force.
Journal ArticleDOI
Dynamic surface control for a class of nonlinear systems
TL;DR: A method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form and it is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms" that has made other methods difficult to implement in practice.
Related Papers (5)
2007 Special Issue: Optimization and applications of echo state networks with leaky- integrator neurons
Harnessing Nonlinearity: Predicting Chaotic Systems and Saving Energy in Wireless Communication
Herbert Jaeger,Harald Haas +1 more