面向性能增强的双惯量伺服系统状态反馈控制

To avoid using the function approximation (neural networks or fuzzy logic systems) and enhance the transient and steady-state control performance, this paper proposes a proportional-integral feedback control strategy for dual-inertia servo systems with external disturbance based on prescribed performance functions (PPF). First, a modified prescribed performance function with guaranteed convergence rate, maximum overshoot and steady-state error boundary is employed, so that both the transient response and steady-state errors are retained within a predefined boundary. Second, a state-feedback control with this proposed PPF is suggested. Compared with the classical function approximation-based control approaches, the computational complexity of the developed control system is reduced and the explosion of complexity in the backstepping methods could be remedied. Finally, comparative experiments based on a dual-inertial test-rig are provided to show the effectiveness and superior performance of the proposed control scheme.