Neural network-based adaptive funnel sliding mode control for servo mechanisms with friction compensation

摘要

In this paper, a novel adaptive funnel sliding mode control scheme is proposed for servo mechanisms with friction compensation. A continuously differentiable friction model is employed to capture the unknown friction dynamics. The friction nonlinearities and unknown dynamics are estimated by using neural network (NN). Moreover, a modified funnel variable, which relaxes limitation in original funnel control (e.g., systems with relative degree 1 or 2), is developed using the tracking error to replace the scaling factor, which is used to design the sliding mode surface. Then, a novel adaptive funnel sliding mode control scheme is proposed for servo mechanisms to improve the transient performance. The effectiveness of the developed control method is validated via experimental results. (C) 2019 Elsevier B.V. All rights reserved.