文档介绍：IEEE TRANSACTIONS ON SYSTEMS MAN AND ICS—PART B: ICS, VOL. 33, NO. 3, JUNE 2003 489
Robust Control for Nonlinear Motor-Mechanism
Coupling System Using Wavelet work
Rong-Jong Wai, Member, IEEE
Abstract—A robust controlled toggle mechanism, which is and Benveniste [16], the new notation of work was
driven by a permanent (PM) synchronous servo motor proposed as an alternative to feedforward works
is studied in this paper. First, based on the principle - for approximating arbitrary nonlinear functions based on the
puted torque control, a position controller is developed for the
motor-mechanism coupling system. Moreover, to relax the re- wavelet transform theory, and a backpropagation algorithm
quirement of the lumped uncertainty in the design of puted was adopted for work training. Zhang et al. [17]
torque controller, a wavelet work (WNN) uncertainty described a wavelet-based work for function learning
observer is utilized to adapt the lumped uncertainty online. and estimation, and the structure of work was similar to
Furthermore, based on the Lyapunov stability a robust control that of the radial basis work except that the radial
system, bines puted torque controller, the WNN
uncertainty observer and pensated controller is proposed functions were replaced by orthonormal scaling functions.
to control the position of the motor-mechanism coupling system. Zhang [18