Nonlinear robust adaptive precision motion control of motor servo systems with unknown actuator backlash compensation

被引：8

作者：

Yuan, Shusen ^{[1
]}

Deng, Wenxiang ^{[1
]}

Liang, Xianglong ^{[1
]}

Yao, Jianyong ^{[1
]}

Yang, Guolai ^{[1
]}

机构：

[1] Nanjing Univ Sci & Technol, Sch Mech Engn, Nanjing 210094, Peoples R China

来源：

ISA TRANSACTIONS | 2023年 / 137卷

基金：

中国国家自然科学基金;

关键词：

Motor servo systems; Robust control; Adaptive control; Backlash inverse; Modeling uncertainties; TRACKING CONTROL;

D O I：

10.1016/j.isatra.2023.02.002

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this article, the problem of high precision motion control for motor servo systems with modeling uncertainties and unknown actuator backlash is addressed. The combination of synthesized adaptive laws and continuous nonlinear robust term handles parameter uncertainties and system disturbances. The adaptive technique updates the unknown parameters of actuator backlash in real time and the backlash inverse function eliminates the backlash effect. Meanwhile, the designed controller without knowing the range of the disturbance upper bound but automatically estimates through the adaptive law, which improves the engineering practicability. Finally, the theoretical analysis proves the perfect asymptotic stability of the presented controller even with unmodeled disturbances and unknown actuator backlash. Extensive comparative experiments reveal the superiority of the presented method.(c) 2023 ISA. Published by Elsevier Ltd. All rights reserved.

引用

页码：349 / 357

页数：9

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