A hybrid computed torque controller using fuzzy neural network for motor-quick-return servo mechanism

Faa Jeng Lin, Rong Jong Wai

Research output: Contribution to journalArticlepeer-review

23 Scopus citations


The dynamic response of a hybrid computed torque controlled quick-return mechanism, which is driven by a permanent magnet (PM) synchronous servo motor, is described in this paper. The crank and disk of the quick-return mechanism are assumed to be rigid. First, Hamilton's principle and Lagrange multiplier method are applied to formulate the mathematical model of motion. Then, based on the principle of computed torque control, a position controller is designed to control the position of a slider of the motor-quick-return servo mechanism. In addition, to relax the requirement of the lumped uncertainty in the design of a computed torque controller, a fuzzy neural network (FNN) uncertainty observer is utilized to adapt the lumped uncertainty on line. Moreover, a hybrid control system, which combines the computed torque controller, the FNN uncertainty observer, and a compensated controller, is developed based on Lyapunov stability to control the motor-quick-return servo mechanism. The computed torque controller with FNN uncertainty observer is the main tracking controller, and the compensated controller is designed to compensate the minimum approximation error of the uncertainty observer instead of increasing the rule numbers of the FNN. Finally, simulated and experimental results due to periodic step and sinusoidal commands show that the dynamic behaviors of the proposed hybrid computed torque control system are robust with regard to parametric variations and external disturbances.

Original languageEnglish
Pages (from-to)75-89
Number of pages15
JournalIEEE/ASME Transactions on Mechatronics
Issue number1
StatePublished - Mar 2001


  • Computed torque control
  • Fuzzy neural network
  • Permanent magnet synchronous servo motor
  • Quick-return mechanism
  • Uncertainty observer


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