On-line constructive fuzzy sliding-mode control for voice coil motors |
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| Affiliation: | 1. Department of Information Technology, Al-Huson University College, Al-Balqa Applied University, P.O. Box 50, Al-Huson, Irbid, Jordan;2. Department of Computer Science, Al-Aqsa University, P.O. Box 4051, Gaza, Palestine;3. School of Computer Sciences, Universiti Sains Malaysia (USM), Pulau Pinang, Malaysia;4. Department of Computer Science, Faculty of Pure and Applied Sciences, Federal University Wukari, P. M. B. 1029, Wukari, Taraba State, Nigeria;1. Fondazione Bruno Kessler, Via Sommarive 18, 38123 Povo, Trento, Italy;2. University of Trento, Via Sommarive 9, 38123 Povo, Trento, Italy;3. University of Adelaide, Adelaide, SA 5005, Australia;1. School of Mathematics and Statistics, Nanjing University of Information Science and Technology, Nanjing 210044, China;2. Centre for Computational Intelligence (CCI), School of Computer Science and Informatics, De Montfort University, Leicester LE1 9BH, United Kingdom;1. Department of Actuarial Science and Applied Statistics, Faculty of Business & Information Science, UCSI University, Jalan Menara Gading, 56000 Cheras, Kuala Lumpur, Malaysia;2. Department of Mathematics, B.C. College, Asansol, West Bengal, India;3. School of Mathematical Sciences, Faculty of Science and Technology, Universiti Kebangsaan Malaysia, 43600 UKM Bangi, Selangor DE, Malaysia;1. NEC Laboratories Europe, Kurfürsten-Anlage 36, 69115 Heidelberg, Germany;2. LIAAD-INESC TEC, 4200-465 Porto, Portugal;3. Dep. Transport and Planning, Delft University of Technology, 2600 GA Delft, The Netherlands;4. Dep. de Eng. Informática, Fac. de Engenharia, U. Porto, 4200-465 Porto, Portugal;5. Faculdade de Economia, U. Porto, 4200-465 Porto, Portugal;6. UGEI-INESC TEC, 4200-465 Porto, Portugal;7. DGEI, Fac. de Engenharia, U. Porto, 4200-465 Porto, Portugal |
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| Abstract: | In this paper, a voice coil motor (VCM) featuring fast dynamic performance and high position repeatability is developed. To achieve robust VCM control performance under different operating conditions, an on-line constructive fuzzy sliding-mode control (OCFSC) system, which comprises of a main controller and an exponential compensator, is proposed. In the main controller, a fuzzy observer is used to on-line approximate the unknown nonlinear term in the system dynamics with on-line structure learning and parameter learning using a gradient descent algorithm. According to the structure learning mechanism, the fuzzy observer can either increase or decrease the number of fuzzy rules based on tracking performance. The exponential compensator is applied to ensure the system stability with a nonlinear exponential reaching law. Thus, the chattering signal can be alleviated and the convergence of tracking error can be speed up. Finally, the experimental results show that not only the OCFSC system can achieve good position tracking accuracy but also the structure learning ability enables the fuzzy observer to evolve its structure on-line. |
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| Keywords: | Exponential reaching time Fuzzy sliding-mode control Structure learning Parameter learning Voice coil motor |
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