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32   Adaptive Identification and Control of Uncertain Systems with Non-smooth Dynamics























                        Figure 2.2 Comparative tracking trajectories.






















                        Figure 2.3 Comparative tracking errors.



                        mance than that of Case A2 with online learning only. In particular, due to
                        the finite-time convergence property of the proposed adaptive estimation
                        scheme, the error convergence rate of Case A3 is significantly enhanced,
                        which is particularly useful in the engineering applications.


                        2.6 CONCLUSION

                        This chapter proposes an adaptive non-linear sliding mode control of me-
                        chanical servo system with LuGre friction compensation based on glow-
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