Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation
Joint Authors
Yang, Guichao
Yao, Jianyong
Jiao, Zongxia
Ma, Dawei
Source
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-14, 14 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-21
Country of Publication
Egypt
No. of Pages
14
Main Subjects
Abstract 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.
American Psychological Association (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
Modern Language Association (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
American Medical Association (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
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-502133