Adaptive robust motion control for precise trajectory tracking applications

Tan, Kok Kiong; Huang, Shiqiang; Dou, H.F.; Lee, T.H.; Chin, Shok Jun; Lim, Suo Hon

doi:10.1016/s0019-0578(00)00037-9

Cited by 36 publications

(18 citation statements)

References 5 publications

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“…However, in the process operation, the motor equipped with the load, environment parameters and the speed of the motor is nonlinear, so it is very difficult to construct the model parameters in the dynamic process of motor speed regulation. In this paper, an MFA sliding mode control is adopted to track the desired trajectory of a given speed and the position of a PMDC linear motor [20]. Nonlinear model of PMDC linear motor is shown as.…”

Section: Simulation Study and Results Discussionmentioning

confidence: 99%

MFAC based SMC Combine Algorithm for the Stability of PMDC

Masood¹,

Wang²,

Aamir³

et al. 2017

IJHIT

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Section: Simulation Study and Results Discussionmentioning

confidence: 99%

MFAC based SMC Combine Algorithm for the Stability of PMDC

Masood¹,

Wang²,

Aamir³

et al. 2017

IJHIT

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“…Then, no matter what the adaptation function is, the controller guarantees that: The closed-loop system is globally stable, and the positive de nite function de ned by is bounded above by (21) where . Proof: Substituting (17) into (16), we have (22) Combining with (19), it follows that (23) which implies (21).…”

Section: A Discontinuous Control Lawmentioning

confidence: 99%

“…By ignoring the current dynamics, the mechanical and electrical dynamics of a current-controlled DC servo mechanism can be described as [21] (1) (2) where is the angular position; is the current input command;…”

Section: A Dynamic Model Of Servo Mechanismsmentioning

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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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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“…Without loss of generality, the mechanical and electrical dynamics of a dc servomechanism can be described as [13] …”

Section: A Dynamic Model Of Servomechanismsmentioning

confidence: 99%

“…Therefore, the robust control term satisfying (16) is well defined. Noting (13) and (14), from (16), one haṡ…”

Section: Noting (18) In This Casêmentioning

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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Adaptive robust motion control for precise trajectory tracking applications

Cited by 36 publications

References 5 publications

MFAC based SMC Combine Algorithm for the Stability of PMDC

MFAC based SMC Combine Algorithm for the Stability of PMDC

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

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

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