Intelligent controller design and experimental implementation of nonlinear TORA system

Ching Hung Lee*, Sheng Kai Chang

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The purpose of this paper is to design an intelligent controller and system experimental implementation for nonlinear translational oscillations with a rotational actuator (TORA) system. In this paper, an adaptive backstepping control scheme using wavelet-based neural networks (WNNs), called ABC WNN, is proposed for TORA system control. According to the estimations of the WNNs, the ABCWNN control is developed by backstepping design procedure such that the system output follows the desired trajectory. Based on the universal approximation ability, we use the WNN to estimate the system uncertainty including fractional force and parameter variance. For system development, the effect of frictional forces is discussed and solved by using the estimation of WNN. Based on the Lyapunov approach, the adaptive laws of WNNs' parameters are obtained. The experimental results are presented to demonstrate the effectiveness of our approach.

Original languageEnglish
Title of host publication2009 IEEE International Conference on Control and Automation, ICCA 2009
Pages1968-1973
Number of pages6
DOIs
StatePublished - 2009
Event2009 IEEE International Conference on Control and Automation, ICCA 2009 - Christchurch, New Zealand
Duration: 9 Dec 200911 Dec 2009

Publication series

Name2009 IEEE International Conference on Control and Automation, ICCA 2009

Conference

Conference2009 IEEE International Conference on Control and Automation, ICCA 2009
CountryNew Zealand
CityChristchurch
Period9/12/0911/12/09

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