Optimal Adaptive Parameter Estimation-Based Tracking Control of Motor Turntable Servo System

被引：0

作者：

Yang, Qinqin ^{[1
]}

Ren, Xuemei ^{[1
]}

Zhao, Wei ^{[1
]}

Lv, Yongfeng ^{[1
]}

Wang, Shubo ^{[1
]}

机构：

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

来源：

2017 9TH INTERNATIONAL CONFERENCE ON MODELLING, IDENTIFICATION AND CONTROL (ICMIC 2017) | 2017年

基金：

中国国家自然科学基金;

关键词：

OAPE; NTVTSM; Filtering technique; SLIDING MODE CONTROL;

D O I：

暂无

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 paper, an optimal adaptive parameter estimation (OAPE) method is proposed to estimate the disturbance and the unknown parameters of the motor turntable servo system. Different from the conventional adaptive parameter estimation (APE), the estimation error of OAPE is driven by the adaptive law with the time-varying gain which is developed by utilizing the filtering technique and minimizing the cost function. By implying OAPE, the exponential convergence of estimation errors is guaranteed. The nonsingular time-varying terminal sliding mode (NTVTSM) controller is designed, which achieves the position tracking of the system with small tracking errors. Simulation are conducted to validate the effectiveness of the proposed algorithm.

引用

页码：139 / 144

页数：6

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