Intelligent Tracking Control Design for a Class of Electrically Driven Constrained Mechanical Systems

• Main Authors: Hui-MinYen, 閻惠民
• Other Authors: Tzuu-Hseng S. Li
• Format: Others
• Language: en_US
• Published: 2012
• Online Access: http://ndltd.ncl.edu.tw/handle/96128252891057695741

博士 === 國立成功大學 === 電機工程學系碩博士班 === 101 === This dissertation proposes an intelligent tracking control design for a class of electrically driven constrained mechanical systems. Firstly, we address the problem of designing an intelligent motion tracking control for nonholonomic and holonomic mechanical systems actuated by direct current motors. This class of electrically driven mechanical systems may be perturbed by plant uncertainties, unmodeled time-varying perturbations, and external disturbances. Neural network systems and fuzzy logic systems are employed to approximate the behaviors of uncertain mechanical and electrical dynamics. A reduced-order observer is constructed to estimate the velocity signals. Only the measurements of link position and armature current are required for feedback signals. The effect of external disturbance on the tracking error is efficiently eliminated by an additional variable structure control technique. Using backstepping technique and Lyapunov stability theorem, the intelligent tracking controller is developed such that all the states and signals of the closed-loop system are bounded and the tracking error can be made as small as possible. Moreover, the tracking control schemes developed in this study can be extended to handle a broader class of nonlinear electrically driven flexible-joint mechanical systems. Finally, simulation results are presented to demonstrate the effectiveness and tracking performance of the proposed control schemes.