ADAPTIVE FUZZY-WAVELET NEURAL NETWORKS-BASED REAL-TIME MODEL GENERATION FOR INCREASING TRACKING PRECISION OF MULTIVARIABLE SERVO ACTUATOR

Sadeq Yaqubi,∗ Mahdi Homaeinezhad,∗∗ and Mohammad R. Homaeinezhad

Keywords

Disturbance observer, fuzzywavelet neural network, discrete slidingmode control, uncertain systems, simultaneous torque and positioncontrol

Abstract

This paper proposes a new method for simultaneous torque and position control of uncertain servomechanisms under the effect of unknown external disturbance signals. Realistically, it cannot be expected that mathematical models of gear-drive systems express its dynamical behaviour accurately. Multiple control algorithms are proposed to overcome the aforementioned issue. First control algorithm is constructed considering worst-case scenario to ensure closed-loop stability in all possible configurations of modelling and disturbance uncertainty. However, this control mode is potentially conservative. To address this issue, the second control algorithm constitutes of fuzzy-wavelet neural network (FWNN) disturbance observer to pinpoint uncertain dynamical effects. Based on the FWNN estimation of predicted states, a separate sliding controller is designed in this mode.

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