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Friction Compensation Control of Electromechanical Actuator Based on Neural Network Adaptive Sliding Mode

School of Instrumentation and Optoelectronic Engineering, Beihang University, Beijing 100191, China
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Sensors 2021, 21(4), 1508; https://doi.org/10.3390/s21041508
Received: 19 January 2021 / Revised: 17 February 2021 / Accepted: 18 February 2021 / Published: 22 February 2021
(This article belongs to the Section Electronic Sensors)
In this paper, a radial basis neural network adaptive sliding mode controller (RBF−NN ASMC) for nonlinear electromechanical actuator systems is proposed. The radial basis function neural network (RBF−NN) control algorithm is used to compensate for the friction disturbance torque in the electromechanical actuator system. An adaptive law was used to adjust the weights of the neural network to achieve real−time compensation of friction. The sliding mode controller is designed to suppress the model uncertainty and external disturbance effects of the electromechanical actuator system. The stability of the RBF−NN ASMC is analyzed by Lyapunov’s stability theory, and the effectiveness of this method is verified by simulation. The results show that the control strategy not only has a better compensation effect on friction but also has better anti−interference ability, which makes the electromechanical actuator system have better steady−state and dynamic performance. View Full-Text
Keywords: electromechanical actuator system; adaptive sliding mode controller; radial basis function neural network controller; friction compensation electromechanical actuator system; adaptive sliding mode controller; radial basis function neural network controller; friction compensation
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MDPI and ACS Style

Ruan, W.; Dong, Q.; Zhang, X.; Li, Z. Friction Compensation Control of Electromechanical Actuator Based on Neural Network Adaptive Sliding Mode. Sensors 2021, 21, 1508. https://doi.org/10.3390/s21041508

AMA Style

Ruan W, Dong Q, Zhang X, Li Z. Friction Compensation Control of Electromechanical Actuator Based on Neural Network Adaptive Sliding Mode. Sensors. 2021; 21(4):1508. https://doi.org/10.3390/s21041508

Chicago/Turabian Style

Ruan, Wei; Dong, Quanlin; Zhang, Xiaoyue; Li, Zhibing. 2021. "Friction Compensation Control of Electromechanical Actuator Based on Neural Network Adaptive Sliding Mode" Sensors 21, no. 4: 1508. https://doi.org/10.3390/s21041508

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