Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation

المؤلفون المشاركون

Yang, Guichao
Yao, Jianyong
Jiao, Zongxia
Ma, Dawei

المصدر

Abstract and Applied Analysis

العدد

المجلد 2013، العدد 2013 (31 ديسمبر/كانون الأول 2013)، ص ص. 1-14، 14ص.

الناشر

Hindawi Publishing Corporation

تاريخ النشر

2013-11-21

دولة النشر

مصر

عدد الصفحات

14

التخصصات الرئيسية

الرياضيات

الملخص EN

Uncertainties including the structured and unstructured, especially the nonlinear frictions, always exist in physical servo systems and degrade their tracking accuracy.

In this paper, a practical method named adaptive robust controller (ARC) is synthesized with a continuous differentiable friction model for high accuracy motion control of a direct-drive dc motor, which results in a continuous control input and thus is more suitable for application.

To further reduce the noise sensitivity and improve the tracking accuracy, a desired compensation version of the proposed adaptive robust controller is also developed and its stability is guaranteed by a proper robust law.

The proposed controllers not only account for the structured uncertainties (e.g., parametric uncertainties) but also for the unstructured uncertainties (e.g., unconsidered nonlinear frictions).

Furthermore, the controllers theoretically guarantee a prescribed output tracking transient performance and final tracking accuracy in both structured and unstructured uncertainties while achieving asymptotic output tracking in the absence of unstructured uncertainties, which is very important for high accuracy control of motion systems.

Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategies.

نمط استشهاد جمعية علماء النفس الأمريكية (APA)

Yao, Jianyong& Yang, Guichao& Jiao, Zongxia& Ma, Dawei. 2013. Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation. Abstract and Applied Analysis،Vol. 2013, no. 2013, pp.1-14.
https://search.emarefa.net/detail/BIM-502133

نمط استشهاد الجمعية الأمريكية للغات الحديثة (MLA)

Yao, Jianyong…[et al.]. Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation. Abstract and Applied Analysis No. 2013 (2013), pp.1-14.
https://search.emarefa.net/detail/BIM-502133

نمط استشهاد الجمعية الطبية الأمريكية (AMA)

Yao, Jianyong& Yang, Guichao& Jiao, Zongxia& Ma, Dawei. Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation. Abstract and Applied Analysis. 2013. Vol. 2013, no. 2013, pp.1-14.
https://search.emarefa.net/detail/BIM-502133

نوع البيانات

مقالات

لغة النص

الإنجليزية

الملاحظات

Includes bibliographical references

رقم السجل

BIM-502133