Abstract
For servo electromechanical systems, the existing modeling uncertainties, signal measurement noises and so on always make it difficult to design high-performance closed-loop controllers. In this paper, a novel intelligent controller will be designed to deal with these uncertainties. Specifically, two multilayer neuroadaptive disturbance observers will be proposed to estimate the uncertain nonlinear dynamics and exogenous disturbances simultaneously. And these uncertainties will be compensated feedforwardly. Moreover, in order to reduce the influence of signal measurement noises, the desired-command compensation technique will be incorporated. Additionally, different validation examples will be proposed to demonstrate the advantages of the designed controller.
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