Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system

Kang Wang; Xuemei Ren; Zimei Sun; Wei Zhao

doi:10.1109/ICMIC.2017.8321538

Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system

Kang Wang, Xuemei Ren^*, Zimei Sun, Wei Zhao

^*此作品的通讯作者

自动化学院

Beijing Institute of Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

3 引用（Scopus）

摘要

This paper presents a novel recursive adaptive integral sliding mode (RAISM) control method based on extended state observer (ESO) for the class of dual-motor nonlinear servo system with unknown backlash. The ESO is utilized to estimate the useful states and predigest the designing course. Then, applying the Chebyshev neural network, the RAISM controller is designed to effectively eliminate the reaching phase and avoid the problem of singularity. The simulation results of comparative experiments verify the validity and higher tracking accuracy of the proposed method.

源语言	英语
主期刊名	Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
出版商	Institute of Electrical and Electronics Engineers Inc.
页	663-668
页数	6
ISBN（电子版）	9781509065738
DOI	https://doi.org/10.1109/ICMIC.2017.8321538
出版状态	已出版 - 2 7月 2017
活动	9th International Conference on Modelling, Identification and Control, ICMIC 2017 - Kunming, 中国期限: 10 7月 2017 → 12 7月 2017

出版系列

姓名	Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
卷	2018-March

会议

会议	9th International Conference on Modelling, Identification and Control, ICMIC 2017
国家/地区	中国
市	Kunming
时期	10/07/17 → 12/07/17

访问文件

10.1109/ICMIC.2017.8321538

其它文件与链接

链接到 Scopus 的出版物

引用此

Wang, K., Ren, X., Sun, Z., & Zhao, W. (2017). Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system. 在 Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017 (页码 663-668). (Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017; 卷 2018-March). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICMIC.2017.8321538

Wang, Kang ; Ren, Xuemei ; Sun, Zimei 等. / Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system. Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 663-668 (Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017).

@inproceedings{70396e7830c0477ca980fc0123af9dbf,

title = "Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system",

abstract = "This paper presents a novel recursive adaptive integral sliding mode (RAISM) control method based on extended state observer (ESO) for the class of dual-motor nonlinear servo system with unknown backlash. The ESO is utilized to estimate the useful states and predigest the designing course. Then, applying the Chebyshev neural network, the RAISM controller is designed to effectively eliminate the reaching phase and avoid the problem of singularity. The simulation results of comparative experiments verify the validity and higher tracking accuracy of the proposed method.",

keywords = "ESO, RAISM control method, dual-motor nonlinear servo system",

author = "Kang Wang and Xuemei Ren and Zimei Sun and Wei Zhao",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 9th International Conference on Modelling, Identification and Control, ICMIC 2017 ; Conference date: 10-07-2017 Through 12-07-2017",

year = "2017",

month = jul,

day = "2",

doi = "10.1109/ICMIC.2017.8321538",

language = "English",

series = "Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "663--668",

booktitle = "Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017",

address = "United States",

}

Wang, K, Ren, X, Sun, Z & Zhao, W 2017, Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system. 在 Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017. Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017, 卷 2018-March, Institute of Electrical and Electronics Engineers Inc., 页码 663-668, 9th International Conference on Modelling, Identification and Control, ICMIC 2017, Kunming, 中国, 10/07/17. https://doi.org/10.1109/ICMIC.2017.8321538

Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system. / Wang, Kang; Ren, Xuemei; Sun, Zimei 等.
Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017. Institute of Electrical and Electronics Engineers Inc., 2017. 页码 663-668 (Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017; 卷 2018-March).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system

AU - Wang, Kang

AU - Ren, Xuemei

AU - Sun, Zimei

AU - Zhao, Wei

PY - 2017/7/2

Y1 - 2017/7/2

N2 - This paper presents a novel recursive adaptive integral sliding mode (RAISM) control method based on extended state observer (ESO) for the class of dual-motor nonlinear servo system with unknown backlash. The ESO is utilized to estimate the useful states and predigest the designing course. Then, applying the Chebyshev neural network, the RAISM controller is designed to effectively eliminate the reaching phase and avoid the problem of singularity. The simulation results of comparative experiments verify the validity and higher tracking accuracy of the proposed method.

AB - This paper presents a novel recursive adaptive integral sliding mode (RAISM) control method based on extended state observer (ESO) for the class of dual-motor nonlinear servo system with unknown backlash. The ESO is utilized to estimate the useful states and predigest the designing course. Then, applying the Chebyshev neural network, the RAISM controller is designed to effectively eliminate the reaching phase and avoid the problem of singularity. The simulation results of comparative experiments verify the validity and higher tracking accuracy of the proposed method.

KW - ESO

KW - RAISM control method

KW - dual-motor nonlinear servo system

UR - http://www.scopus.com/inward/record.url?scp=85050524320&partnerID=8YFLogxK

U2 - 10.1109/ICMIC.2017.8321538

DO - 10.1109/ICMIC.2017.8321538

M3 - Conference contribution

AN - SCOPUS:85050524320

T3 - Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017

SP - 663

EP - 668

BT - Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 9th International Conference on Modelling, Identification and Control, ICMIC 2017

Y2 - 10 July 2017 through 12 July 2017

ER -

Wang K, Ren X, Sun Z, Zhao W. Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system. 在 Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017. Institute of Electrical and Electronics Engineers Inc. 2017. 页码 663-668. (Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017). doi: 10.1109/ICMIC.2017.8321538

Recursive adaptive integral sliding mode control based on extended state observer for dual-motor servo system

摘要

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