Adaptive robust controller for electric cylinder with fast parameter estimation based on modified lugre model

被引：0
作者：
Li, Duo Yang [1 ,2 ]
Wang, Jun Zheng [1 ,2 ]
Hao, Ren Jian [1 ,2 ]
Wang, Shou Kun [1 ,2 ]
Shen, Wei [1 ,2 ]
机构：
[1] Key Lab Intelligent Control & Decis Complex Syst, Beijing 100081, Peoples R China
[2] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China
来源：
PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017) | 2017年
关键词：
adaptive robust control; Lugre model; parameter estimation; STATE ESTIMATION; SYSTEMS;
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, the adaptive robust control (ARC) algorithm is proposed for tracking control of the electric cylinder position. According to the analysis of the working principle of the electric cylinder servo system, the model of the system is established on the modified Lugre friction model, and single observer is designed for calculating friction as well. Then the ARC controller and adaptive law are designed for on-line parameters estimation, frictional compensation and the suppression external disturbance. Through the Lyapunov approach, the stability of this system can be obtained in this work. The simulation result shows that ARC can suppresses external disturbances effectively and realize real-time online parameter estimation.
引用
收藏
页码：3315 / 3320
页数：6
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