A Globally Stable High-Performance Adaptive Robust Control Algorithm With Input Saturation for Precision Motion Control of Linear Motor Drive Systems

This paper focuses on the synthesis of nonlinear adaptive robust controller with saturated actuator authority for a linear motor drive system, which is subject to parametric uncertainties and uncertain nonlinearities such as input disturbances as well. Global stability with limited control efforts i...

Full description

Saved in:
Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 12; no. 2; pp. 198 - 207
Main Authors Hong, Yun, Yao, Bin
Format Journal Article
LanguageEnglish
Published New York IEEE 01.04.2007
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Adaptive control
Adaptive control systems
Control nonlinearities
Control systems
Friction
input saturation
linear motors
Motion control
Motor drives
Motors
nonlinear systems
Nonlinearity
Programmable control
Robust control
Stability
Strategy
Studies
Tracking
Uncertainty
Online AccessGet full text
ISSN1083-4435
1941-014X
DOI10.1109/TMECH.2007.892835

Cover

More Information
Summary:This paper focuses on the synthesis of nonlinear adaptive robust controller with saturated actuator authority for a linear motor drive system, which is subject to parametric uncertainties and uncertain nonlinearities such as input disturbances as well. Global stability with limited control efforts is achieved by breaking down the overall uncertainties to state-linearly-dependent uncertainties (such as viscous friction) and bounded nonlinearities (such as Coulomb friction, cogging force, etc.), and dealing with them via different strategies. Furthermore, a guaranteed transient performance and final tracking accuracy can be obtained by incorporating the well-developed adaptive robust control strategy and effective parameter identifier. Asymptotic output tracking is also achieved in the presence of parametric uncertainties only. Meanwhile, in contrast to the existing saturated control structures that are designed based on a set of transformed coordinates, the proposed saturated controller is carried out in the actual system states, which have clear physical meanings. This makes it much easier and less conservative to select the design parameters to meet the dual objective of achieving global stability with limited control efforts for rare emergency cases and the local high-bandwidth control for high performance under normal running conditions. Real-time experimental results are obtained to illustrate the effectiveness of the proposed saturated adaptive robust control strategy
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ObjectType-Article-2
ObjectType-Feature-1
content type line 23
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2007.892835