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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/108223

    Title: On-line constructive fuzzy sliding-mode control for voice coil motors
    Authors: Hsu, Chun-Fei;Wong, Kai-Yi
    Keywords: Fuzzy sliding-mode control;Structure learning;Parameter learning;Voice coil motor
    Date: 2016-10-01
    Issue Date: 2016-11-09 02:10:50 (UTC+8)
    Publisher: Elsevier BV
    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.
    Relation: Applied Soft Computing 47, p.415-423
    DOI: 10.1016/j.asoc.2016.05.050
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Journal Article

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