Robust Adaptive Control for a DC Servomotor with wide Backlash Nonlinearity

Salas‐Peña, Oscar; Castañeda, Herman; León-Morales, J. De

doi:10.1080/00051144.2015.11828657

Cited by 11 publications

(11 citation statements)

References 12 publications

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“…V 0 ðeÞ ¼ 1 2 e 2 ðtÞ > 0; 8e 6 ¼ 0 (14) Time derivative of the above equation is To design a feedback control law by adding an integral action which contributes to the control bandwidth and tracking precision for parametric uncertainty and robustness to high frequency unmodelled dynamics, the virtual control becomes…”

Section: Design Methodsmentioning

confidence: 99%

“…Modifying the Lyapunov function in (14) with the integral action, one obtains Substitution of (17) into (19) results in…”

Section: Design Methodsmentioning

confidence: 99%

“…For electromechanical systems under load variations and parameter uncertainties, speed control via conventional linear proportional-integral-derivative (PID) controllers is not a simple task. Recently, a lot of control methods such as non-linear control, optimal control, variable structure control and AC have been extensively suggested [11,[13][14][15]. In the present research, a non-linear BISMC based on the Lyapunov stability theorem is proposed for an electromechanical system to track the desired reference despite parametric uncertainties and disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Backstepping integral sliding mode control of an electromechanical system

Çoban

2017

Automatika

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The aim of this paper is to design a backstepping integral sliding mode controller (BISMC) for speed control of an electromechanical system under uncertainties and disturbances. An integral dynamic is included in traditional sliding surface to improve chattering and steadystate error in tracking a reference signal when parametric uncertainties and disturbances exist. Design and stability of the closed-loop system is realized by Lyapunov criterion in a step by step procedure. Experimental results of the proposed BISMC are compared with those of the traditional sliding mode controller (SMC). The proposed BISMC achieves reasonable tracking performance and exhibits more robust performance concerning parametric uncertainties and disturbances than the traditional SMC.

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Section: Design Methodsmentioning

confidence: 99%

“…Modifying the Lyapunov function in (14) with the integral action, one obtains Substitution of (17) into (19) results in…”

Section: Design Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Backstepping integral sliding mode control of an electromechanical system

Çoban

2017

Automatika

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“…The PMS consists of a brushed dc motor with several modules, which are digital encoder, power supply, pre‐amplifier, servo‐amplifier, attenuator, output potentiometer, gearbox/tachometer and analogue control interface units as shown in Figure . This platform allows control designers to develop control algorithms, implement them into the real system and test them in real time . The PMS is controlled with a digital computer.…”

Section: System Descriptionmentioning

confidence: 99%

Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application

Çoban

2017

Intl J Robust & Nonlinear

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Summary In this study, a dynamical adaptive integral backstepping variable structure control (DAIBVSC) system based on the Lyapunov stability theorem is proposed for the trajectory tracking control of a nonlinear uncertain mechatronic system with disturbances. In this control scheme, no prior knowledge is required on the uncertain parameters and disturbances because it is estimated by two types of dynamical adaptive laws. These adaptive laws are integrated into the dynamical adaptive integral backstepping control and variable structure control (VSC) parts of the DAIBVSC. The dynamical adaptive law in the dynamical adaptive integral backstepping control part updates parametric uncertainties, while the other in the VSC part adapts upper bounds of non‐parametric uncertainties and disturbances. In order to achieve a more robust output tracking and better parameter adaptation, the control system is extended by one integrator and sliding surface is augmented by an integral action. Experimental evaluation of the DAIBVSC is conducted with respect to performance and robustness to parametric uncertainties. Experimental results of the DAIBVSC are compared with those of a traditional VSC. The proposed DAIBVSC exhibits satisfactory output tracking performance, good estimation of the uncertain parameters and can reject disturbances with a chattering free control law. Copyright © 2017 John Wiley & Sons, Ltd.

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“…if and only if [35][36][37]. Therefore, for a prescribed ρ in H ∞ tracking control, in order to guarantee the solvability of H ∞ tracking performance, the weight κ on control law u R of Eq.…”

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confidence: 99%

On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots

et al. 2016

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Original scientific paperIn this study, a robust neuro-adaptive controller for cable-driven parallel robots is proposed. The robust neuroadaptive control system is comprised of a computation controller and a robust controller. The computation controller containing a neural-network-estimator with radial basis function activator is the principal controller and the robust controller is designed to achieve tracking performance. An on-line tuning method is derived to tune the parameters of the neural network for estimating the controlled system dynamic function. To investigate the effectiveness of the robust adaptive control, the design methodology is applied to control a cable-driven parallel robot. Simulation results demonstrate that the proposed robust adaptive control system can achieve favorable tracking performances for the robot.Key words: Robust control, Adaptive law, neural network, Cable-driven Parallel Robot Dizajn robusnog neuro-adaptivnog regulatora za žično pogonjene paralelne robote. U ovome redu predstavljen je neuro-adaptivni regulator za žično pogonjene paralelne robote. Robusni neuro-adaptivni regulator sastoji se od regulatora zasnovanog na estimiranom modelu i robusnog regulatora. Prvi regulator sadrži estimator s neuronskom mrežom s radijalnom aktivacijskom funkcijom glavni je regulator u sustavu, a robusni je regulator dizajniran za slijedenje. Izvedena je on-line metoda podešavanja parametara neuronske mreže za estimaciju dinamike sustava upravljanja. Efikasnost sustava adaptivnog, robusnog regulatora testirana je na na žično pogonjenom paralelnom robotu. Simulacijski rezultati pokazuju da se predloženim robusnim i adaptivnim regulatorom mogu dobiti zadovoljavajuće performanse prilikom slijedenja.Ključne riječi: robusno upravljanje, adaptivni upravljački zakon, neuronska mreža, žično pogonjeni paralelni robot INTRODUCTIONIn the recent decades, robots have been utilized in vast area of industries. However, many parts of manufacturing and engineering does not put upon robots, mainly due to the weakness of conventional robots [1] [2]. For instance, in many applications workspace requirements and load carrying capacity are so much higher than what the conventional robots can provide while cost of the robot should be considered [3] [4]. Toward resolving the latter issue, new class of parallel robots were introduced [5]. Cable-Driven Parallel Robots (CDPR) are structurally similar to parallel actuated robots but with the fundamental difference that cables can only pull the End-Effector (EE) but not push it. Figure 1 represents schematically a CDPR in a general arrangement. It consists of motor, winch system and the EE. From a scientific stand point, feedback control of CDPR is lot more challenging than their counterpart parallel-actuated robots due to the cables behavior. Several efforts had been exerted on modeling and control

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Robust Adaptive Control for a DC Servomotor with wide Backlash Nonlinearity

Cited by 11 publications

References 12 publications

Backstepping integral sliding mode control of an electromechanical system

Backstepping integral sliding mode control of an electromechanical system

Dynamical adaptive integral backstepping variable structure controller design for uncertain systems and experimental application

On The Design of The Robust Neuro-Adaptive Controller for Cable-driven Parallel Robots

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