Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 50, Issue 4, Pages 1383-1394Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2018.2875134
Keywords
Servomotors; Backstepping; Transient analysis; Artificial neural networks; Fuzzy logic; Control design; Adaptive control; funnel function; input dead-zone; neural network (NN); predefined performance; servo mechanisms
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Funding
- National Natural Science Foundation of China [61803216, 61573203, 61573204, 61573174, 61433003]
- Natural Science Foundation of Shandong Province [ZR2018BF022]
- Taishan Scholar Special Project Fund [TSQN20161026]
- National Key Research and Development Plan [2017YFB130350]
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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.
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