Abstract
In this paper, a novel adaptive funnel sliding mode control scheme is proposed for servo mechanisms with friction compensation. A continuously differentiable friction model is employed to capture the unknown friction dynamics. The friction nonlinearities and unknown dynamics are estimated by using neural network (NN). Moreover, a modified funnel variable, which relaxes limitation in original funnel control (e.g., systems with relative degree 1 or 2), is developed using the tracking error to replace the scaling factor, which is used to design the sliding mode surface. Then, a novel adaptive funnel sliding mode control scheme is proposed for servo mechanisms to improve the transient performance. The effectiveness of the developed control method is validated via experimental results.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.