Extended-State-Observer-Based Funnel Control for Nonlinear Servomechanisms With Prescribed Tracking Performance

In this paper, an approximation-free funnel feedback controller is proposed for a class of nonlinear servomechanisms to achieve prescribed tracking error performance. An improved funnel function is proposed to guarantee the transient and asymptotic behavior of the tracking error within a given funne...

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Published in	IEEE transactions on automation science and engineering Vol. 14; no. 1; pp. 98 - 108
Main Authors	Wang, Shubo, Ren, Xuemei, Zeng, Tianyi
Format	Journal Article
Language	English
Published	New York IEEE 01.01.2017 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects	Automation Controllers Error analysis Extended state observer (ESO) Feedback control systems Friction funnel control nonlinear control Nonlinear dynamical systems Observers prescribed error performance Servomechanisms Simulation Torque Transient analysis
Online Access	Get full text
ISSN	1545-5955 1558-3783
DOI	10.1109/TASE.2016.2618010

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Abstract	In this paper, an approximation-free funnel feedback controller is proposed for a class of nonlinear servomechanisms to achieve prescribed tracking error performance. An improved funnel function is proposed to guarantee the transient and asymptotic behavior of the tracking error within a given funnel boundary. The proposed funnel function removes the imposed assumption used in conventional funnel controls (e.g., systems with relative degree one or two) and avoids the potential singularity problem in prescribed performance controls. Moreover, an extended state observer (ESO) is used to address the effect of unknown dynamics in the control system (e.g., friction and disturbances), where the ESO parameters can be easily designed based on the control system bandwidth. The stability of the proposed control system with ESO and funnel function is analyzed via the Lyapunov theory. Comparative simulations and experimental results are conducted based on a practical turntable servomechanisms to validate the efficacy of the proposed method.
AbstractList	In this paper, an approximation-free funnel feedback controller is proposed for a class of nonlinear servomechanisms to achieve prescribed tracking error performance. An improved funnel function is proposed to guarantee the transient and asymptotic behavior of the tracking error within a given funnel boundary. The proposed funnel function removes the imposed assumption used in conventional funnel controls (e.g., systems with relative degree one or two) and avoids the potential singularity problem in prescribed performance controls. Moreover, an extended state observer (ESO) is used to address the effect of unknown dynamics in the control system (e.g., friction and disturbances), where the ESO parameters can be easily designed based on the control system bandwidth. The stability of the proposed control system with ESO and funnel function is analyzed via the Lyapunov theory. Comparative simulations and experimental results are conducted based on a practical turntable servomechanisms to validate the efficacy of the proposed method.
Author	Xuemei Ren Shubo Wang Jing Na Tianyi Zeng
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SubjectTerms	Automation Controllers Error analysis Extended state observer (ESO) Feedback control systems Friction funnel control nonlinear control Nonlinear dynamical systems Observers prescribed error performance Servomechanisms Simulation Torque Transient analysis
Title	Extended-State-Observer-Based Funnel Control for Nonlinear Servomechanisms With Prescribed Tracking Performance
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