Adaptive Barrier Control for Nonlinear Servomechanisms with Friction Compensation. (11th July 2018)

• Record Type: Journal Article
• Authors: Wang, Shubo; Yu, Haisheng; Gao, Xuehui; Wang, Na
• Other Names: Hu Liang Academic Editor.
• Is Part Of: Complexity. Volume 2018(2018)
• Publication Date: 2018-07-11
• Subjects: Chaotic behavior in systems -- Periodicals; Complexity (Philosophy) -- Periodicals; 003
• DOI: 10.1155/2018/8925838
• Languages: English
• ISSNs: 1076-2787

Abstract

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.