期刊
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY
卷 22, 期 2, 页码 690-705出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCST.2013.2255290
关键词
DC servo motor; energy-based controller; fuzzy neural network; numerical simulations and experimental results; the unstable nonequilibrium position
资金
- National Natural Science Foundation of China [61020106003]
- 111 Project [B08015]
- NKTSP Project [2012BAF19G00]
- Doctoral Start-Up Fund of Liaoning Province of China [20121011]
This paper mainly researches the swing-up control of Pendubot. Comparing with the uppermost unstable equilibrium position, it is more difficult to make the Pendubot swing up to the unstable nonequilibrium position. In order to complete the control target, the energy-based controller incorporated with fuzzy neural network compensation (ECFNNC) is designed in this paper. In addition, numerical simulations and experimental results of the Pendubot actuated by a dc servo motor are given in this paper. By comparing the results with other algorithms, it is found that the ECFNNC proposed in this paper has better performance under the same conditions.
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