Dynamic Surface Control of Harmonic Drive Mechanism based on RBF Neural Network
The mathematic model for the harmonic drive mechanism with multi- variable and nonlinear external disturbance is established,the system error is defined and virtual function is introduced gradually. The RBF neural network is employed to approximate the nonlinear part of the harmonic drive mechanism...
| Main Authors: | , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Office of Journal of Mechanical Transmission
2016-01-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.013 |
| _version_ | 1797819406364966912 |
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| author | Li Xiangwei Hou Gaoqiang |
| author_facet | Li Xiangwei Hou Gaoqiang |
| author_sort | Li Xiangwei |
| collection | DOAJ |
| description | The mathematic model for the harmonic drive mechanism with multi- variable and nonlinear external disturbance is established,the system error is defined and virtual function is introduced gradually. The RBF neural network is employed to approximate the nonlinear part of the harmonic drive mechanism on- line.The dynamic surface controller is developed based on RBF neural network. The closed- loop system convergence is demonstrated with the Lyapunov stabilization theory,through the theory analysis and simulation results comparing with general PID control show that the proposed controller not only satisfies high performance position tracking,but also have good accuracy and stability,which effectively suppresses the influence of the harmonic drive mechanism like nonlinear external disturbance. |
| first_indexed | 2024-03-13T09:22:30Z |
| format | Article |
| id | doaj.art-acbc0cfa41c94b72935931898d2b1265 |
| institution | Directory Open Access Journal |
| issn | 1004-2539 |
| language | zho |
| last_indexed | 2024-03-13T09:22:30Z |
| publishDate | 2016-01-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj.art-acbc0cfa41c94b72935931898d2b12652023-05-26T09:41:25ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392016-01-0140626629924726Dynamic Surface Control of Harmonic Drive Mechanism based on RBF Neural NetworkLi XiangweiHou GaoqiangThe mathematic model for the harmonic drive mechanism with multi- variable and nonlinear external disturbance is established,the system error is defined and virtual function is introduced gradually. The RBF neural network is employed to approximate the nonlinear part of the harmonic drive mechanism on- line.The dynamic surface controller is developed based on RBF neural network. The closed- loop system convergence is demonstrated with the Lyapunov stabilization theory,through the theory analysis and simulation results comparing with general PID control show that the proposed controller not only satisfies high performance position tracking,but also have good accuracy and stability,which effectively suppresses the influence of the harmonic drive mechanism like nonlinear external disturbance.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.013Harmonic drive mechanism;Nonlinear external disturbance;RBF neural network;Dynamic surface control |
| spellingShingle | Li Xiangwei Hou Gaoqiang Dynamic Surface Control of Harmonic Drive Mechanism based on RBF Neural Network Jixie chuandong Harmonic drive mechanism;Nonlinear external disturbance;RBF neural network;Dynamic surface control |
| title | Dynamic Surface Control of Harmonic Drive Mechanism based on RBF Neural Network |
| title_full | Dynamic Surface Control of Harmonic Drive Mechanism based on RBF Neural Network |
| title_fullStr | Dynamic Surface Control of Harmonic Drive Mechanism based on RBF Neural Network |
| title_full_unstemmed | Dynamic Surface Control of Harmonic Drive Mechanism based on RBF Neural Network |
| title_short | Dynamic Surface Control of Harmonic Drive Mechanism based on RBF Neural Network |
| title_sort | dynamic surface control of harmonic drive mechanism based on rbf neural network |
| topic | Harmonic drive mechanism;Nonlinear external disturbance;RBF neural network;Dynamic surface control |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2016.07.013 |
| work_keys_str_mv | AT lixiangwei dynamicsurfacecontrolofharmonicdrivemechanismbasedonrbfneuralnetwork AT hougaoqiang dynamicsurfacecontrolofharmonicdrivemechanismbasedonrbfneuralnetwork |