Browse > Article
http://dx.doi.org/10.5391/IJFIS.2005.5.2.169

Saturation Compensation of a DC Motor System Using Neural Networks  

Jang, Jun-Oh (Department of Computer Control Engineering, Uiduk University)
Ahn, Ihn-Seok (Department of Computer Control Engineering, Uiduk University)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.5, no.2, 2005 , pp. 169-174 More about this Journal
Abstract
A neural networks (NN) saturation compensation scheme for DC motor systems is presented. The scheme that leads to stability, command following and disturbance rejection is rigorously proved. On-line weights tuning law, the overall closed loop performance and the boundness of the NN weights are derived and guaranteed based on Lyapunov approach. The simulation and experimental results show that the proposed scheme effectively compensate for saturation nonlinearity in the presence of system uncertainty.
Keywords
DC motor system; Neural networks; Saturation compensation; Stability; Actuator nonlinearity;
Citations & Related Records
연도 인용수 순위
  • Reference
1 K. S. Walgama and J. Sternby, 'Inherent observer property in class of anti-winup compensators,' Int. J. Contr., vol. 52, no. 3, pp. 705-724, 1990   DOI   ScienceOn
2 W. Niu and Tomizuka, 'A robust anti-windup controller design for asymptotic tracking of motion control system subjected to actuator saturation,' in Proc. IEEE Conf. Decision and Control, Tampa, pp. 447-451, 1998   DOI
3 J. O. Jang and G. J. Jeon, 'A parallel neuro-controller for DC motors containing nonlinear friction,' Neurocomputing, vol. 30, no. 1, pp. 233-248, Jan. 2000   DOI   ScienceOn
4 J. O. Jang, 'Implementation of indirect neuro-control for a nonlinear two-robot MIMO system,' Control Engineering Practice, vol. 9, no. 1, pp. 89-95, 2001   DOI   ScienceOn
5 A. M. Annaswamy, S. Evesque, S. Niculescu, and A. P. Dowling, 'Adaptive control of a class of time delay systems in the presence of saturation,' Adaptive Control of Nonsmooth Dynamic Systems, Eds. G. Tao and F. Lewis, Springer-Verlag, New York, NY 2001
6 D. A. Recker, P. V. Kokotovic, D. Rhode, and J. Winkelman, 'Adaptive nonlinear control of systems containing a deadzone,' in Proc. IEEE Conf. Dec. Contr., 1991, pp. 2111-2115   DOI
7 J. O. Jang and G. J. Jeon, 'Implementation of indirect neuro-control for nonlinear dynamic systems,' Mechatronics, vol. 9, no. 6, pp. 675-686. Sep. 1999   DOI   ScienceOn
8 R. Hanus and Y. Peng, 'Conditioning technique for controller with time delays', IEEE Trans. Automat. Contr., vol. AC-37, pp. 689-692, May, 1992
9 G. Tao and P. V. Kokotovic, 'Adaptive control of systems with unknown output backlash,' IEEE Trans. Automat. Contr., vol. 40, no. 2, pp 59-68, 1995
10 K. S. Narendra and K. Parthasarathy, 'Identification and control of dynamical systems using neural networks,' IEEE Trans. Neural Networks, vol. 1, pp. 4-27, March 1990   DOI   ScienceOn
11 C. W. Chan and K. Hui, 'On the existence of globally stable actuator saturation compensators,' Int. J. Contr., vol. 69, no. 6, pp. 773-788, 1998   DOI   ScienceOn
12 J. O. Jang and P. G. Lee, 'Neuro-fuzzy control for DC motor friction compensation,' in Proc. IEEE Conf. Decision and Control, Sydney, Australia, Dec. 2000, pp. 3550-3555   DOI
13 K. Hornik, M. Stinchombe, and S. H. White, 'Multilayer feedforward networks are universal approximator,' Neural Networks, vol. 2, pp. 359-366, 1989   DOI   ScienceOn
14 G. Tao and P. V. Kokotovic, 'Adaptive control of plants with unknown hysteresis,' IEEE Trans. Automat. Contr., vol. 40, no. 2, pp 200-212, 1995   DOI   ScienceOn
15 F. L. Lewis, A. Yesildirek, and K. Liu, 'Multilayer neural net robot controller with guaranteed tracking performance,' IEEE Trans. Neural networks, vol. 7, no. 2, pp 1-11, 1996
16 G. Tao and P. V. Kokotovic, 'Adaptive control of plants with unknown deadzones,' IEEE Trans. Automat. Contr., vol. 39, pp 59-68, Jan 1994   DOI   ScienceOn
17 K. J. Astrom and B. Wittenmark, Computer-Controlled systems: Theory and Design, Prentice Hall; 3rd edition, Nov. 1996
18 J. Leitner, A.Calise, and J. V. R. Prasad, 'Analysis of adaptive neural networks for helicopter flight control,' Journal of Guidance, Control, and Dynamics, vol. 20, no. 5, pp. 972-979, Sep/Oct. 1997   DOI   ScienceOn
19 R. R. Selmic and F. L. Lewis, 'Deadzone compensation in motion control systems using neural networks,' IEEE Trans. Automat. Contr., vol. 45, no. 4, pp 602-613, April 2000   DOI   ScienceOn
20 G. Tao and P. V. Kokotovic, Adaptive control of systems with actuator and sensor nonlinearities, John Wiley & Sons, New York, 1996
21 T. Hu and Z. Lin, Control systems with actuator saturation: analysis and design, Birkhauser, Boston, 2001
22 Cybenko, 'Approximation by superpositions of a sigmoidal function,' Math. Contr. Signals, Syst., vol. 2, no. 4, pp. 303-314, 1989   DOI   ScienceOn