In this paper, position control of servomotors is addressed. A radial basis function neural network is employed to identify the unknown nonlinear function of the plant model, and then a robust adaptive law is developed to train the parameters of the neural network, which does not require any preliminary off-line weight learning. Moreover, base on the identified model, we propose a new dynamic sliding mode control (DSMC) for a general class of nonaffine nonlinear systems by defining a new adaptive proportional-integral sliding surface and employing a linear state feedback. The main property of proposed controller is that it does not need an upper bound for the uncertainty and identified model; moreover, the switching gain increases and decreases according to the system circumstance by employing an adaptive procedure. Then, chattering is removed completely by using the DSMC with a small switching gain.
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November 2011
Research Papers
Position Control of Servomotors Using Neural Dynamic Sliding Mode
A. Karami-Mollaee,
A. Karami-Mollaee
Ph.D.
Student Electrical Engineering Department, Faculty of Engineering,
Ferdowsi University of Mashhad
, Iran
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N. Pariz,
N. Pariz
Senior Lecturer
Electrical Engineering Department,
Ferdowsi University of Mashhad
, Iran
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H. M. Shanechi
H. M. Shanechi
Senior Lecturer
Electrical and Computer Engineering Department,
Illinois Institute of Technology
, Chicago, IL
e-mail:
Search for other works by this author on:
A. Karami-Mollaee
Ph.D.
Student Electrical Engineering Department, Faculty of Engineering,
Ferdowsi University of Mashhad
, Iran
e-mail:
N. Pariz
Senior Lecturer
Electrical Engineering Department,
Ferdowsi University of Mashhad
, Iran
e-mail:
H. M. Shanechi
Senior Lecturer
Electrical and Computer Engineering Department,
Illinois Institute of Technology
, Chicago, IL
e-mail: J. Dyn. Sys., Meas., Control. Nov 2011, 133(6): 061014 (10 pages)
Published Online: November 11, 2011
Article history
Received:
December 9, 2009
Revised:
March 13, 2011
Online:
November 11, 2011
Published:
November 11, 2011
Citation
Karami-Mollaee, A., Pariz, N., and Shanechi, H. M. (November 11, 2011). "Position Control of Servomotors Using Neural Dynamic Sliding Mode." ASME. J. Dyn. Sys., Meas., Control. November 2011; 133(6): 061014. https://doi.org/10.1115/1.4004782
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