A Contraction Theory-Based Tracking Control Design With Friction Identification and Compensation

Thenozhi, Suresh; Concha, Antonio; Rodríguez‐Reséndiz, Juvenal

doi:10.1109/tie.2021.3094456

Cited by 32 publications

(9 citation statements)

References 28 publications

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“…Słowa kluczowe: sterowanie ADRC, regulator PID, sprzężenie od stanu, rozszerzony obserwator stanu, dobór nastaw, wielowymiarowy obiekt nieliniowy też konieczności dopasowania nastaw regulatora do zmieniających się warunków pracy, można wykorzystać sterowanie adaptacyjne lub odporne, gdzie razem z regulacją przeprowadza się identyfikację parametrów obiektu [25,4]. W pracy skupiono się na regulacji odpornej z estymacja stanu obiektu regulacji.…”

Section: Streszczenie: W Niniejszej Pracy Został Przedstawiony Algory...unclassified

Robust ADRC Control – Tuning and Discrete Implementation

Michalski¹,

Kozierski²,

Puchalski³

et al. 2022

PAR

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This paper presents the robust Active Disturbance Rejection Control method in an aerodynamical object with two degrees of freedom. Full derivation of control algorithm equations and the settings values depending on the desired properties of the system, based on the dynamics of the second order oscillating object, have been shown. The equations of the control algorithm were discretized and its discrete implementation was proposed. The tests were carried out on the Inteco aerodynamical laboratory kit, whose mathematical model is strongly non-linear, has two degrees of freedom and crosscoupling. The quality of operation was assessed on the basis of time graphs as well as integral quality indices. The conducted research shows the advantage of the applied algorithm over PID control for the tested system. The presented control algorithm is also more portable – the settings are selected only on the basis of the object order and once selected are correct regardless of the mathematical model. The proposed discrete equations can be implemented using any programming language theoretically for any object, taking into account the order of its dynamics.

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Section: Streszczenie: W Niniejszej Pracy Został Przedstawiony Algory...unclassified

Robust ADRC Control – Tuning and Discrete Implementation

Michalski¹,

Kozierski²,

Puchalski³

et al. 2022

PAR

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“…In order to suppress the dynamic disturbance, an adaptive parameter estimation method is proposed to identify the friction model parameters, which improves the system's disturbance resistance and tracking accuracy. The servo system of continuous friction model [18] establishes a nonlinear parameterized friction model and uses the nonlinear least squares method to estimate parameters of the model, such as viscosity coefficient and the Coulomb coefficient. Based on the established friction model, a backstepping controller is designed.…”

Section: Introductionmentioning

confidence: 99%

A Precise Modeling Method for PMSM Servo System of Spacecraft

Xu,

Song,

Xiao

et al. 2024

Applied Sciences

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Permanent magnet synchronous motor (PMSM) servo system is the control and execution mechanism of spacecraft, and its precise modeling is of great practical significance for improving the performance of the spacecraft. A comprehensive model considering elasticity, backlash, and friction was established based on the structural composition and transmission characteristics of spacecraft. Firstly, an elastic-dead zone model was established based on the transmission characteristics, with two mass elastic and gear backlash dead zones as the main features. Then, an improved LuGre friction model was established that considers the effects of vibration and environmental temperature, and the three models were organically combined. Finally, a method for identifying nonlinear parameters of the system using sinusoidal sweep and the least squares method was proposed, and the accuracy of the constructed model was verified. The experiment shows that the error of the simulation results is consistent with the experimental results. This method can precisely obtain the servo system model, providing theoretical support for control method research.

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“…One category is control schemes based on modeling and identification of the main nonlinear dynamics. Examples include control schemes based on friction compensation [4], [6], [7] and control schemes based on ripple force compensation [8], [9]. This type of approach requires a clear understanding of the system mechanism and extensive identification experiments.…”

Section: Introductionmentioning

confidence: 99%

Iterative Learning Observer-Based High-Precision Motion Control for Repetitive Motion Tasks of Linear Motor-Driven Systems

Liu,

Yu,

Lin

et al. 2024

IEEE Open J. Ind. Electron. Soc.

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Repetitive motion is one of the most common motion tasks in linear motor (LM) driven system. The LM performs repetitive motion based on periodic target trajectory under control, thus leading to periodic characteristics in certain system uncertainties. For this type of tasks, this article proposes an iterative learning observer-based high-precision motion control scheme, which comprehensively considers high-accuracy model compensation and periodic uncertainties estimation. A recursive least squares (RLS) algorithm-based indirect adaptation strategy is used to achieve high-accuracy parameter estimation and model compensation. A saturated constrained-type iterative learning observer is designed to effectively estimate and compensate for periodic uncertainties. The closed-loop stability of the system is guaranteed in the presence of both periodic and non-periodic uncertainties due to the composite adaptive robust control design. Comparative experiments are conducted on an LM driven motion platform to verify the effectiveness and advantages of the proposed control scheme. Furthermore, the experimental results confirm the enhancement of both transient and steady-state performance of the system.INDEX TERMS Adaptive robust control, iterative learning observer, linear motor, motion control, repetitive motion task.

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A Contraction Theory-Based Tracking Control Design With Friction Identification and Compensation

Cited by 32 publications

References 28 publications

Robust ADRC Control – Tuning and Discrete Implementation

Robust ADRC Control – Tuning and Discrete Implementation

A Precise Modeling Method for PMSM Servo System of Spacecraft

Iterative Learning Observer-Based High-Precision Motion Control for Repetitive Motion Tasks of Linear Motor-Driven Systems

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