Design and Experimental Evaluation of a 3-Mass Speed Control System with a Hybrid Structure of Sliding Mode Controller and CMAC

S. Fujisawa, M. Obika, and K. Kawada (Japan)


CMAC, sliding mode control, mass system, speed con trol system


This paper deals with a design scheme of the speed control for a 3-mass system, which has a hybrid struc ture of a sliding mode controller and a cerebellar model articulation controller (CMAC). The nonlinear control part in the sliding mode controller is firstly designed, and then a real-coded genetic algorithm is utilized to optimize the output from the sliding mode controller. The CMAC compensates the sliding mode controller so that the control performance is improved well. The behavior of the newly proposed control scheme is ex perimentally examined in comparison with using only the sliding mode controller.

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