A novel robust disturbance compensation scheme for d.c. servomotors

Abstract

A novel friction and modelling uncertainty compensation scheme for a ball-screw table system is presented, consisting of an inverse of the nominal model with an input deduction, a filter, and an integral term. This control scheme can compensate for frictional effects and modelling uncertainty inherent in the ball-screw mechanism. In addition, when further combined with a conventional sliding-mode controller (SMC), this controller can help to counteract the effects of residual frictional torque and residual modelling uncertainty. The proposed control scheme successfully compensates for frictional effects and modelling uncertainty without requiring any prior knowledge of the friction model. Simulation and experimental results confirm the ability of the proposed scheme to compensate for the effects of friction and modelling uncertainty in a practical application.

Identification, uncertainty modeling and robust controller design for an electromechanical actuator

“…4 Many efforts are devoted to design robust controllers for EMA systems based on different robust control systems methods known in literatures such as sliding mode control, Kharitonov's theorem, H 1 , and Quantitative Feedback Theory. [5][6][7][8][9] Proportional-Integral-Derivative (PID) fractional order controller was designed in Barbosa et al, 10 to control velocity of a high performance servo system. A classic compensator was proposed in Kumar et al 11 to control servo system in order to meet the requirements of a launch vehicle application.…”