Adaptive robust control for four-motor driving servo system with uncertain nonlinearities
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- 作者：Wei Zhao ; Xuemei Ren
- 关键词：Four ; motor driving servo systems ; adaptive robust control ; velocity synchronization control ; friction ; backlash ; actuation failures
- 刊名：Control Theory and Technology
- 出版年：2017
- 出版时间：February 2017
- 年：2017
- 卷：15
- 期：1
- 页码：45-57
- 全文大小：
- 刊物类别：Control; Systems Theory, Control; Optimization; Computational Intelligence; Complexity; Control, Rob
- 刊物主题：Control; Systems Theory, Control; Optimization; Computational Intelligence; Complexity; Control, Robotics, Mechatronics;
- 出版者：South China University of Technology and Academy of Mathematics and Systems Science, CAS
- ISSN：2198-0942
- 卷排序：15
文摘
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.