Desired Compensation Adaptive Robust Control of a Linear-Motor-Driven Precision Industrial Gantry With Improved Cogging Force Compensation

Abstract-In this brief, an adaptive robust control (ARC) scheme with compensation for nonlinearly parameterized dynamic friction is proposed. Both parametric uncertainties and external disturbances are considered in this method. Our method takes advantage of a Lipschitzian property with respect to the parameters of nonlinearly parameterized model in the ARC design. The outcome is that the number of parameters to be updated in the ARC is equal to the number of unknown parameters in the plant, and thus the resulting control algorithm is convenient to be implemented. We have proved theoretically that the proposed method can not only guarantee desired transient performance for the system, but also make the magnitude of steady-state tracking error to be arbitrarily small in the presence of parametric uncertainties only. Experimental results are given to demonstrate the effectiveness of the proposed ARC scheme.

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“…Then, from (8), it follows that (27) The (25) and (26) imply that, for any , we have . Hence, to make converge to zero, we only need to let .…”

Section: B Continuous Control Lawmentioning

confidence: 96%

“…First, de ne a tracking-errorindex-like variable [26] as (7) where is the output tracking error, and is any positive feedback gain. Since is a stable transfer function, if is small or converges to zero exponentially, then the output tracking error will be small or converge to zero exponentially.…”

Section: A Discontinuous Control Lawmentioning

confidence: 99%

Adaptive Robust Control of Servo Mechanisms With Compensation for Nonlinearly Parameterized Dynamic Friction

Li¹,

Chen

Zhang

et al. 2013

IEEE Trans. Contr. Syst. Technol.

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“…In order to compare the two controllers in the aforementioned four cases quantitatively, the following performance indices are used [23], [24].…”

Section: E Quantitative Analysismentioning

confidence: 99%

Identifier-Based Adaptive Robust Control for Servomechanisms With Improved Transient Performance

Zhang

Chen

2010

IEEE Trans. Ind. Electron.

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Abstract-This paper focuses on the adaptive robust control (ARC) for servomechanisms whose dynamic models are subject to unknown parameters, disturbance, and parameter sudden changes. To improve the control performance of the traditional ARC, a novel identifier-based ARC (IFARC) scheme is proposed. In this scheme, an identifier is utilized to accelerate the parameter tuning process and to heighten the accuracy of parameter estimation. A switching logic component based on a given performance index is introduced to select the better parameter estimate vector from those provided by the identifier and the adaptation law. As a result, transient performance can be improved according to the certainty equivalence principle. In addition, the exact reconstruction of the unknown parameters and exponential decay of the tracking error can be achieved under certain conditions. The stability and performance of IFARC are theoretically analyzed. Finally, simulation results show that the IFARC can achieve favorable tracking performance.

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“…Extensive experimental results of ARC have shown its advantages and improved performance [22,23,24,25]. 30 On another aspect, in order to achieve further improved tracking control performance, better compensation need to be designed for some specific nonlinearities in DDR torque motor system, for example nonlinear friction.…”

Section: Introductionmentioning

confidence: 99%

Output torque tracking control of direct-drive rotary torque motor with dynamic friction compensation

Wang

2015

Journal of the Franklin Institute

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Desired Compensation Adaptive Robust Control of a Linear-Motor-Driven Precision Industrial Gantry With Improved Cogging Force Compensation

Cited by 122 publications

References 26 publications

Adaptive Robust Control of Servo Mechanisms With Compensation for Nonlinearly Parameterized Dynamic Friction

Adaptive Robust Control of Servo Mechanisms With Compensation for Nonlinearly Parameterized Dynamic Friction

Identifier-Based Adaptive Robust Control for Servomechanisms With Improved Transient Performance

Output torque tracking control of direct-drive rotary torque motor with dynamic friction compensation

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