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Shock and Vibration
Volume 2016 (2016), Article ID 2860596, 9 pages
Research Article

Self-Organizing Adaptive Wavelet Backstepping Control Research for AC Servo System

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

Received 8 September 2015; Revised 27 October 2015; Accepted 28 October 2015

Academic Editor: Vadim V. Silberschmidt

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 novel self-organizing adaptive wavelet cerebellar model articulation controller backstepping (SOWCB) control is proposed, aiming at some nonlinear and uncertain factors that caused difficulties in controlling the AC servo system. This controller consists of self-organizing wavelet cerebellar model articulation controller (CMAC) and robust compensator. It absorbs fast learning and precise approaching advantage of self-organizing wavelet CMAC to mimic a backstepping controller, and then robust compensator is added to inhibit influence of the uncertainties on system performance effectively and realize high accuracy position tracking for AC servo system. Moreover, the stability of the control system can be guaranteed by using Lyapunov method. The results of the simulation and the prototype test prove that the proposed approach can improve the steady state performance and control accuracy and possess a strong robustness to both parameter perturbation and load disturbance.