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Mathematical Problems in Engineering
Volume 2016 (2016), Article ID 9724917, 9 pages
Research Article

A Hybrid Wavelet Fuzzy Neural Network and Switching Particle Swarm Optimization Algorithm for AC Servo System

Department of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

Received 6 May 2016; Revised 4 October 2016; Accepted 3 November 2016

Academic Editor: Andrea L. Facci

Copyright © 2016 Run-min Hou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


A hybrid computational intelligent approach which combines wavelet fuzzy neural network (WFNN) with switching particle swarm optimization (SPSO) algorithm is proposed to control the nonlinearity, wide variation in loads, time variation, and uncertain disturbance of the high-power AC servo system. The WFNN method integrated wavelet transforms with fuzzy rules and is proposed to achieve precise positioning control of the AC servo system. As the WFNN controller, the back-propagation method is used for the online learning algorithm. Moreover, the SPSO is proposed to adapt the learning rates of the WFNN online, where the velocity updating equation is according to a Markov chain, which makes it easy to jump the local minimum, and acceleration coefficients are dependent on mode switching. Furthermore, the stability of the closed loop system is guaranteed by using the Lyapunov method. The results of the simulation and the prototype test prove that the proposed approach can improve the steady-state performance and possess strong robustness to both parameter perturbation and load disturbance.