Adaptive control of harmonic drive with parameter varying friction using structurally dynamic wavelet network

Abstract

In this paper, an adaptive controller with structurally dynamic wavelet network is developed for a harmonic drive subject to parameter varying friction. The control architecture integrates a proportional controller, a feedback adaptive component and sliding component to adaptively compensate for the friction to achieve accurate position tracking. Global asymptotic stability of the algorithm is proved by using Lyapunov function. In parallel to the adaptive controller, a fuzzy reconfiguration scheme is devised to change the structure of the network along with weights updating to improve the system tracking performance and robustness. Experimental tests on a harmonic drive manipulator verify the effectiveness of the proposed control method.

Load-dependent Friction Laws of Three Models of Harmonic Drive Gearboxes Identified by Using a Force Transfer Diagram

“…Numerous works have been published on the friction torque model of HD gearboxes [11], [12], [13], [14], [15] [16] considering friction as constant, while several friction models consider the friction as dependent of the load and the sense of movement [17], [18], [19], [20].…”

Iterative Learning Control with Extended State Observer for Telescope System

“…Simultaneously, the conventional linear control method (proportional-integral) has not guaranteed a higher tracking precision. To solve the above nonlinear problems, there are many control methods being proposed, such as adaptive control [6], slide control [7], compensating control based on DOB [8], active disturbance rejection control (ADRC) [9], and iterative learning control (ILC) [10].…”