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Updated: May 24, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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具有预定义的缓解比率的自适应性神经泽塔倒退. 适用于直流电机的应用

Xiaolong Zheng, Han Wen, Xuebo Yang

    IEEE transactions on cybernetics
    |March 4, 2025
    PubMed
    概括

    这项研究为不确定的非线性系统引入了自适应性神经齐塔后退控制. 该方法通过预先确定的缓冲比率实现实际稳定,使用神经网络补偿未知的非线性.

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    Electromechanical systems are intricate configurations that effectively combine electrical and mechanical elements to achieve a desired outcome. Central to many of these systems is the DC motor, a device that converts electrical energy into mechanical motion, enabling various applications ranging from simple fans to complex robotic mechanisms.
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    Second Order systems I01:20

    Second Order systems I

    A servo system exemplifies a second-order system, featuring a proportional controller and load elements that ensure the output position aligns with the input position. The relationship between these components is described by a second-order differential equation. Applying the Laplace transform under zero initial conditions yields the transfer function, showing how inputs are converted to outputs in the system.
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    If the amount of damping in a system is gradually increased, the period and frequency start to become affected because damping opposes, and hence slows, the back and forth motion (the net force is smaller in both directions). If there is a very large amount of damping, the system does not even oscillate; instead, it slowly moves toward equilibrium. In brief, an overdamped system moves slowly towards equilibrium, whereas an underdamped system moves quickly to equilibrium but will oscillate about...
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