Adaptive Positioning Control for Linear Slider with Friction Compensation
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概要
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This paper concerns with an adaptive friction compensation method based on notion of H∞ optimality. An adaptive Neural-Network (NN) based controller is given, where the NN is used to parameterize the nonlinear characteristic function of the dynamic LuGre model. An approximation error in NN is regarded as exogenous disturbance to the system. Consequently, in the resulting control system, the L2 gains from the disturbance to generalized outputs are made less than prescribed positive constants. Experimental results are shown to illustrate the effectiveness of our proposed method.
- 公益社団法人 計測自動制御学会の論文
公益社団法人 計測自動制御学会 | 論文
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