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Adaptive Prescribed Performance Motion Control of Servo Mechanisms with Friction Compensation

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4 Author(s)
Jing Na ; Fac. of Mech. & Electr. Eng., Kunming Univ. of Sci. & Technol., Kunming, China ; Qiang Chen ; Xuemei Ren ; Yu Guo

This paper proposes an adaptive control for a class of nonlinear mechanisms with guaranteed transient and steady-state performance. A performance function characterizing the convergence rate, maximum overshoot, and steady-state error is used for the output error transformation, such that stabilizing the transformed system is sufficient to achieve the tracking control of the original system with a priori prescribed performance. A continuously differentiable friction model is adopted to account for the friction nonlinearities, for which primary model parameters are online updated. A novel high-order neural network with only a scalar weight is developed to approximate unknown nonlinearities and to dramatically diminish the computational costs. Comparative experiments on a turntable servo system are included to verify the reliability and effectiveness.

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Industrial Electronics, IEEE Transactions on  (Volume:61 ,  Issue: 1 )