Minimum-time Transient Response Guaranteed Control of Servo Motor Systems with Modeling Uncertainties and High-order Constraint

• Published in: IEEE transactions on circuits and systems. II, Express briefs Vol. 70; no. 6; p. 1
• Main Authors: Yuan, Mingxing, Zhang, Xuebo
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.06.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Adaptation models; Adaptive control; Algorithms; Constraint modelling; Control theory; Feedforward systems; Friction; precision motion control; Robust control; saturated adaptive robust control; servo motor systems; Servocontrol; Servomechanisms; Servomotors; Trajectory; Trajectory optimization; trajectory planning; Transient response; Uncertainty
• ISSN: 1549-7747; 1558-3791
• DOI: 10.1109/TCSII.2022.3227332

Practical servo motor systems are generally subject to various modeling uncertainties and actuating constraints. It is challenging to guarantee a minimum-time transient response when modeling uncertainties and constraints present simultaneously. As such, a two-loop control algorithm, which integrates a smooth projection based saturated adaptive robust controller (SARC) and a third-order minimum-time trajectory planner (TOMTTP) seamlessly, is proposed. Specifically, the smooth projection based SARC synthesized in the inner loop mainly handles the modeling uncertainties and feedback constraint, while the TOMTTP in the outer loop generates a time-optimal trajectory under the low-order constraints (velocity and feedforward constraints) and high-order constraint (feedforward rate constraint) simultaneously. Consequently, the transient response is achieved in a minimum-time manner. Simulations on a typical servo motor system are conducted, and the comparative results confirm the superiorities of the proposed approach.