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无模型动态摩擦的自回归小波神经补偿控制

DOI: 10.13190/jbupt.201303.16.005, PP. 16-19

Keywords: 无模型,摩擦补偿,自回归小波神经网络,智能控制

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Abstract:

针对低速伺服系统的摩擦补偿问题,提出一种基于自回归小波神经网络的智能控制算法,无需预知系统的动力模型参数,仅通过闭环位置反馈,网络即能利用极少的神经元和迭代次数实现对非线性摩擦的高精度补偿.Lyapunov稳定性分析结果证明了跟踪误差和网络权值的有界收敛性.某型机器人关节的伺服实验结果表明,引入自回归小波神经补偿算法后的伺服定位精度得以大幅度提高.

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