A Robust Adaptive Sliding-mode Controller with Bound Estimation for Permanent Magnet Spherical Actuator

被引：0

作者：

Wen, Yan ^{[1
]}

Zhao, Yuan ^{[1
]}

Li, Guoli ^{[2
]}

Wang, Qunjing ^{[3
]}

Guo, Xiwen ^{[4
]}

机构：

[1] Anhui Univ, Sch Elect Engn & Automat, Hefei, Peoples R China

[2] Anhui Univ, Engn Res Ctr Power Qual, Minist Educ, Hefei, Peoples R China

[3] Anhui Univ, Collaborat Innovat Ctr Ind Energy Saving & Power, Hefei, Peoples R China

[4] Anhui Univ, Natl Engn Lab Energy Saving Motor & Control Tech, Hefei, Peoples R China

来源：

PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) | 2016年

关键词：

permanent magnet spherical actuator; robust control; sliding-mode control; adaptive control;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This paper presents a novel tracking controller for a three degrees-of-freedom permanent magnet spherical actuator (PMSA). The controller is designed on the basis of the establishment of dynamics model under uncertainties. The major construction of the controller lies in the use of the matrix regressor to isolate unknown parameters from the PMSA. Moreover, sliding-mode control and robust control are adopted to make errors converge to zero and restrain and eliminate distributions and uncertain factors. The stability of the closed-loop system using designed controller is confirmed through Lyapunov theorem. Simulation results are provided to validate the effectiveness of the proposed controller.

引用

页码：178 / 183

页数：6

共 14 条

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