Bibliographic Details
| Title: |
State Estimate-Based Robust Adaptive Control of a Linked Mass-Spring System With Nonlinear Friction. |
| Authors: |
Yong Fu Wang1 yfwang@mail.neu.edu.cn, Dian Hui Wang2 dh.wang@latrobe.edu.au, Tian You Chai3 fychai@mail.neu.edu.cn |
| Source: |
Journal of Dynamic Systems, Measurement, & Control. Mar2013, Vol. 135 Issue 2, p1-8. 8p. |
| Subject Terms: |
*ADAPTIVE fuzzy control, *FEEDBACK control systems, *OBSERVABILITY (Control theory), *SAMPLING errors, *NONLINEAR systems, *FRICTION, *DEGREES of freedom, *COMPUTER simulation |
| Abstract: |
This paper aims to develop a state estimate-based friction fuzzy modeling and robust adaptive control techniques for controlling a class of multiple degrees of freedom (MDOF) mechanical systems. A fuzzy state estimator is proposed to estimate the state variables for friction modeling. Under some conditions, it is shown that such a state esti-mator guarantees the uniformly ultimate boundedness (UUB) of the estimate error. Based on system input-output data and our proposed state estimator, a robust adaptive fuzzy output-feedback control scheme is presented to control multiple degrees of freedom sys-tem with friction. The adaptive fuzzy output-feedback controller can guarantee the uni-formly ultimate boundedness of the tracking error of the closed-loop system. A typical mass-spring system is employed in our simulation studies. The results demonstrate that our proposed techniques in this paper have good potential in controlling nonlinear sys-tems with uncertain friction. [ABSTRACT FROM AUTHOR] |
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| Database: |
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