Elm Based Adaptive Backstepping Control Of Hybrid Conveying Mechanism With Mismatched Disturbances

An extreme learning machine based adaptive backstepping control law is proposed for the problem of trajectory tracking control of hybrid conveying mechanism with mismatched disturbances. In order to eliminate matched and mismatched disturbances in different channels, two extreme learning machine disturbance observers are used to estimate and compensate disturbances in system. According to the stability of Lyapunov function, control law and adaptive law are designed to realize the trajectory tracking control of the hybrid conveying mechanism. The simulation results show that the proposed control law has good trajectory tracking accuracy and robustness under the condition of mismatched disturbances.