Adaptive robust control for four-motor driving servo system with uncertain nonlinearities
Wei ZHAO
Xuemei REN
摘要：A novel adaptive robust control (ARC) is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in L2 norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method.
机标关键词：servo systemsynchronization algorithmadaptive robust controlunknown parametertracking controlfast convergenceperformance in
资助基金：the National Natural Science Foundation of China()the National Natural Science Foundation of China(61433003)the National Natural Science Foundation of China(61273150)the Foundation for Innovative Research Groups of the National Natural Science Foundation of China(61321002)the Doctoral Program of Higher Education of China(20121101110029)
论文发表日期：2017-01-01
在线出版日期：2025-08-15（本平台首次上网日期，不代表文献的发表时间）
页数：13( 45-57 )
英文信息