Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Robust Adaptive Position Control for Servomotor Drive Using Fuzzy-neural Networks

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  • Hwang, Young-Ho (Dept. of Elec. Elec Con. & Inst. Eng. Hanyang Univ.) ;
  • Lee, An-Yong (Dept. of Elec. Elec Con. & Inst. Eng. Hanyang Univ.) ;
  • Kim, Hong-Pil (Sch. of Com. Con. Elec. Eng. Kyungil Univ.) ;
  • Yang, Hai-Won (Dept. of Elec. Elec Con. & Inst. Eng. Hanyang Univ.)
  • 황영호 (한양대학교 전자전기제어계측공학과) ;
  • 이안용 (한양대학교 전자전기제어계측공학과) ;
  • 김홍필 (경일대학교 컴퓨터제어.전기공학부) ;
  • 양해원 (한양대학교 전자전기제어계측공학과)
  • Published : 2006.07.12
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Abstract

A robust adaptive position control algorithm is proposed for servomotor drive system with uncertainties and load disturbance. The proposed controller is comprised of a nominal controller and a robust control. The nominal controller is designed in the condition without all the external load disturbance, nonlinear friction and unpredicted uncertainties. The robust controller containing lumped uncertainty approximator using fuzzy-neural network(FNN) is designed to dispel the effect of uncertainties and load disturbance. The interconnection weight of the FNN can be online tuned in the sense of the Lyapunov stability theorem thus asymptotic stability of the proposed control system can be guaranteed. Finally, simulation results verify that the proposed control algorithm can achieve favorable tracking performance for the induction servomotor drive system.

Keywords