Intelligent Complementary Sliding-Mode Control for LUSMs-Based X-Y-theta Motion Control Stage

NCUIR > College of Electrical Engineering & Computer Science > Department of Electrical Engineering > journal & Dissertation > Item 987654321/51962

Please use this identifier to cite or link to this item: http://ir.lib.ncu.edu.tw/handle/987654321/51962

Title:	Intelligent Complementary Sliding-Mode Control for LUSMs-Based X-Y-theta Motion Control Stage
Authors:	Lin,FJ;Chen,SY;Shyu,KK;Liu,YH
Contributors:	電機工程學系
Keywords:	LINEAR ULTRASONIC MOTOR;NEURAL-NETWORK CONTROL;SYSTEM;DESIGN
Date:	2010
Issue Date:	2012-03-28 10:11:58 (UTC+8)
Publisher:	國立中央大學
Abstract:	An intelligent complementary sliding-mode control (ICSMC) system using a recurrent wavelet-based Elman neural network (RWENN) estimator is proposed in this study to control the mover position of a linear ultrasonic motors (LUSMs)-based X-Y-theta motion control stage for the tracking of various contours. By the addition of a complementary generalized error transformation, the complementary sliding-mode control (CSMC) can efficiently reduce the guaranteed ultimate bound of the tracking error by half compared with the sliding-mode control (SMC) while using the saturation function. To estimate a lumped uncertainty on-line and replace the hitting control of the CSMC directly, the RWENN estimator is adopted in the proposed ICSMC system. In the RWENN, each hidden neuron employs a different wavelet function as an activation function to improve both the convergent precision and the convergent time compared with the conventional Elman neural network (ENN). The estimation laws of the RWENN are derived using the Lyapunov stability theorem to train the network parameters on-line. A robust compensator is also proposed to confront the uncertainties including approximation error, optimal parameter vectors, and higher-order terms in Taylor series. Finally, some experimental results of various contours tracking show that the tracking performance of the ICSMC system is significantly improved compared with the SMC and CSMC systems.
Relation:	IEEE TRANSACTIONS ON ULTRASONICS FERROELECTRICS AND FREQUENCY CONTROL
Appears in Collections:	[Department of Electrical Engineering] journal & Dissertation

Files in This Item:

File	Description	Size	Format
index.html		0Kb	HTML	367	View/Open

社群 sharing

Loading...