Journal
AUTOMATICA
Volume 38, Issue 2, Pages 227-233Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/S0005-1098(01)00192-3
Keywords
adaptive control; compensation; friction; neural networks; uncertainty
Ask authors/readers for more resources
In this paper, we present a new adaptive technique for tracking control of mechanical systems in the presence of friction and periodic disturbances. Radial Basis Functions (RBFs) are used to compensate for the effects of nonlinearly occurring parameters in the friction and periodic disturbance model. Theoretical analysis, such as stability and transient performance, is provided. Furthermore, the performance of the adaptive RBF controller and its non-adaptive counterpart are compared. (C) 2001 Elsevier Science Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available