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Fuzzy-enhanced adaptive control for flexible drive system with friction using genetic algorithms

机译：Fuzzy-enhanced adaptive control for flexible drive system with friction using genetic algorithms

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摘要

When a mechatronic system is in slow speed motion, serious effect of nonlinear friction plays a key role in its control design. In this paper, a stable adaptive control for drive systems including transmission flexibility and friction, based on the Lyapunov stability theory, is first proposed. For ease of design, the friction is fictitiously assumed as an unknown disturbance in the derivation of the adaptive control law Genetic algorithms are then suggested for learning the structure and parameters of the fuzzy-enhancing strategy for the adaptive control to improve system's transient performance and robustness with respect to uncertainty. The integrated fuzzy-enhanced adaptive control is well tested via computer simulations using the new complete dynamic friction model recently suggested by Canudas de Wit et al. for modeling the real friction phenomena. Much lower critical velocity of a flexible drive system that determines system's low-speed performance bound can be obtained using the proposed hybrid control strategy.

机译：当机电系统处于慢速运动中时，非线性摩擦的严重影响在其控制设计中起着关键作用。在本文中，首先基于李雅普诺夫稳定性理论提出了一种包含变速箱柔韧性和摩擦力的驱动系统的稳定自适应控制。为便于设计，在推导自适应控制律时，将摩擦假定为未知干扰，然后提出了遗传算法，用于学习自适应控制的模糊增强策略的结构和参数，以提高系统的暂态性能和鲁棒性关于不确定性。通过使用Canudas de Wit等人最近提出的新的完整动态摩擦模型，通过计算机模拟对集成的模糊增强自适应控制进行了很好的测试。用于模拟真实的摩擦现象。使用所提出的混合控制策略，可以获得决定系统低速性能范围的柔性驱动系统的更低的临界速度。

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Lin L.C.; Lin Y.J.;
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年度 2014
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1. Simultaneous scheduling of machines and automated guided vehicles in flexible manufacturing systems using genetic algorithms [J] . I. A. Chaudhry, S. Mahmood, M. Shami 中南大学学报（英文版） . 2011,第005期
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Fuzzy-enhanced adaptive control for flexible drive system with friction using genetic algorithms

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