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Neural Computing and Applications
Erschienen in: Neural Computing and Applications 4/2012

01.06.2012 | Original Article

Experimental implementation of nonlinear TORA system and adaptive backstepping controller design

verfasst von: Ching-Hung Lee, Sheng-Kai Chang

Erschienen in: Neural Computing and Applications | Ausgabe 4/2012

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Abstract

The purpose of this paper is to design an adaptive controller and system experimental implementation for nonlinear translational oscillations with a rotational actuator (TORA) system. A wavelet-based neural network (WNN) is proposed to develop an adaptive backstepping control scheme, called ABCWNN for TORA system. To ensure the stability of the controlled system, a compensated controller is designed to enhance the control performance. Based on its universal approximation ability, we use a WNN to estimate the system uncertainty including frictional forces, external disturbance, and parameter variance. According to the estimations of the WNNs, the ABCWNN control is developed via a backstepping design procedure such that the system outputs follow the desired trajectories. For system development, the effects of frictional forces are discussed and solved using the estimation of the WNN. The effectiveness of the proposed control scheme for TORA system is verified by numerical simulation and experimental results.
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Metadaten
Titel
Experimental implementation of nonlinear TORA system and adaptive backstepping controller design
verfasst von
Ching-Hung Lee
Sheng-Kai Chang
Publikationsdatum
01.06.2012
Verlag
Springer-Verlag
Erschienen in
Neural Computing and Applications / Ausgabe 4/2012
Print ISSN: 0941-0643
Elektronische ISSN: 1433-3058
DOI
https://doi.org/10.1007/s00521-010-0515-0

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