Velocity-free friction compensation for motion systems with actuator constraint

被引:11
作者
Su, Yuxin [1 ]
Zheng, Chunhong [2 ]
Mercorelli, Paolo [3 ]
机构
[1] Xidian Univ, Sch Electromech Engn, Xian 710071, Peoples R China
[2] Xidian Univ, Sch Elect Engn, Xian 710071, Peoples R China
[3] Leuphana Univ Luneburg, Inst Prod & Proc Innovat, D-21335 Luneburg, Germany
关键词
Actuator constraint; Output feedback; Friction compensation; Motion systems; Nonlinear proportional-derivative (PD) control; NONLINEAR PD CONTROL; POSITION REGULATION; GLOBAL REGULATION; FEEDBACK-CONTROL; OBSERVER; TRACKING; DESIGN; FASTER; TIME;
D O I
10.1016/j.ymssp.2020.107132
中图分类号
TH [机械、仪表工业];
学科分类号
0802 ;
摘要
This paper concerns on the output feedback problem of fast and precise positioning for uncertain motion systems subject to friction and actuator constraint by position measurement only. A simple model-independent saturated robust output feedback nonlinear proportional-derivative (PD) control is proposed by adding relay action driven by position error. Lyapunov's direct method is employed to prove global asymptotic positioning stability. The appealing advantages of the proposed approach are that it is fairly easy to construct with simple and intuitive structure and without reference to modeling parameter and velocity measurement and has the ability to ensure that the actuator constraint is not violated. This is accomplished by selecting control gains a priori. Numerical simulations and real-time experimental validations demonstrate that the proposed approach provides an easy-going model-free solution for high performance positioning of uncertain motion systems subject to unknown friction and actuator constraint with position measurement only. (C) 2020 Elsevier Ltd. All rights reserved.
引用
收藏
页数:15
相关论文
共 41 条
[31]   Adaptive Friction Compensation: A Globally Stable Approach [J].
Verbert, K. A. J. ;
Toth, R. ;
Babuska, R. .
IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2016, 21 (01) :351-363
[32]   Generalization of norm optimal ILC for nonlinear systems with constraints [J].
Volckaert, Marnix ;
Diehl, Moritz ;
Swevers, Jan .
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2013, 39 (1-2) :280-296
[33]   Global output feedback position regulation of friction robot manipulators [J].
Wang, Haihong ;
Su, Yuxin ;
Zhang, Liyin .
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING, 2017, 231 (03) :230-241
[34]   A discontinuous output feedback controller and velocity observer for nonlinear mechanical systems [J].
Xian, B ;
de Queiroz, MS ;
Dawson, DM ;
McIntyre, ML .
AUTOMATICA, 2004, 40 (04) :695-700
[35]   Output feedback adaptive robust precision motion control of linear motors [J].
Xu, L ;
Yao, B .
AUTOMATICA, 2001, 37 (07) :1029-1039
[36]   Investigation of the dynamic electromechanical coupling due to the thrust harmonics in the linear motor feed system [J].
Yang, Xiaojun ;
Liu, Hui ;
Lu, Dun ;
Zhao, Wanhua .
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2018, 111 :492-508
[37]   Evaluating transient performance of servo mechanisms by analysing stator current of PMSM [J].
Zhang, Qing ;
Tan, Luyao ;
Xu, Guanghua .
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2018, 101 :535-548
[38]   Simple saturated relay non-linear PD control for uncertain motion systems with friction and actuator constraint [J].
Zheng, Chunhong ;
Su, Yuxin ;
Mercorelli, Paolo .
IET CONTROL THEORY AND APPLICATIONS, 2019, 13 (12) :1920-1928
[39]   Faster Positioning of One Degree-of-Freedom Mechanical Systems With Friction and Actuator Saturation [J].
Zheng, Chunhong ;
Su, Yuxin ;
Mercorelli, Paolo .
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME, 2019, 141 (06)
[40]   A simple nonlinear PD control for faster and high-precision positioning of servomechanisms with actuator saturation [J].
Zheng, Chunhong ;
Su, Yuxin ;
Mercorelli, Paolo .
MECHANICAL SYSTEMS AND SIGNAL PROCESSING, 2019, 121 :215-226