Neural-Network-Based Adaptive Funnel Control for Servo Mechanisms With Unknown Dead-Zone | IEEE Journals & Magazine | IEEE Xplore

Neural-Network-Based Adaptive Funnel Control for Servo Mechanisms With Unknown Dead-Zone


Abstract:

This paper proposes an adaptive funnel control (FC) scheme for servo mechanisms with an unknown dead-zone. To improve the transient and steady-state performance, a modifi...Show More

Abstract:

This paper proposes an adaptive funnel control (FC) scheme for servo mechanisms with an unknown dead-zone. To improve the transient and steady-state performance, a modified funnel variable, which relaxes the limitation of the original FC (e.g., systems with relative degree 1 or 2), is developed using the tracking error to replace the scaling factor. Then, by applying the error transformation method, the original error is transformed into a new error variable which is used in the controller design. By using an improved funnel function in a dynamic surface control procedure, an adaptive funnel controller is proposed to guarantee that the output error remains within a predefined funnel boundary. A novel command filter technique is introduced by using the Levant differentiator to eliminate the “explosion of complexity” problem in the conventional backstepping procedure. Neural networks are used to approximate the unknown dead-zone and unknown nonlinear functions. Comparative experiments on a turntable servo mechanism confirm the effectiveness of the devised control method.
Published in: IEEE Transactions on Cybernetics ( Volume: 50, Issue: 4, April 2020)
Page(s): 1383 - 1394
Date of Publication: 30 October 2018

ISSN Information:

PubMed ID: 30387759

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