TY - JOUR
T1 - Adaptive robust control for four-motor driving servo system with uncertain nonlinearities
AU - Zhao, Wei
AU - Ren, Xuemei
N1 - Publisher Copyright:
© 2017, South China University of Technology, Academy of Mathematics and Systems Science, Chinese Academy of Sciences and Springer-Verlag Berlin Heidelberg.
PY - 2017/2/1
Y1 - 2017/2/1
N2 - 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.
AB - 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.
KW - Four-motor driving servo systems
KW - actuation failures
KW - adaptive robust control
KW - backlash
KW - friction
KW - velocity synchronization control
UR - https://www.scopus.com/pages/publications/85009964838
U2 - 10.1007/s11768-017-5120-7
DO - 10.1007/s11768-017-5120-7
M3 - Article
AN - SCOPUS:85009964838
SN - 2095-6983
VL - 15
SP - 45
EP - 57
JO - Control Theory and Technology
JF - Control Theory and Technology
IS - 1
ER -