In this paper, a disturbance observer based controller is proposed for the compensation of nonlinear friction in a servodrive system. The designed nonlinear controller uses the estimated system states (position, velocity) and disturbance to enhance tracking performance of the servodrive using high stiff gains for the compensation of the effects of nonlinear friction. The effectiveness of this d...

Variable Structure Controller H. S. Chuang, R.F. Fung, and Y.C. Chuang 1 Department of Automation Engineering, Kao Yuan Institute of Technology, Kaohsiung, Taiwan, R.O.C. Email:[email protected] 2 Department of Mechanical and Automation Engineering, National Kaohsiung First University, Kaohsiung, Taiwan, R.O.C. 3 Department of Electrical Engineering, Kun Shan University of Technology, Tai...

Recent progress in the theory of neural networks played a major role in the development of new tools and techniques for modelling, identification and control of complex nonlinear dynamic systems. Intelligent control, with a special focus on neuro-control has been used successfully to solve difficult real control problems which are nonlinear, noisy and relatively complex. This is due to the fact...