Variable gain switching exact differential observer‐based compensation control for servo system with backlash

Sun, Guang; Xu, Yaming; Wang, Yan; Wang, Gang

doi:10.1049/cth2.12108

Cited by 4 publications

(6 citation statements)

References 33 publications

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“…However, electromagnetic power, electric angular velocity, electromagnetic torque, friction coefficient, and so on cannot be determined by experimental tests. It is difficult to establish accurate mechanical model of wind tunnel centrosome system [22][23][24]. Therefore, the dynamic model of the wind tunnel centrosome system can be established by using data-driven technology.…”

Section: Mechanism Analyzing Of Centrosome Systemmentioning

confidence: 99%

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Precision positioning control of wind tunnel centrosome

Liu,

Yuan,

Mao

2023

IET Control Theory & Appl

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The centrosome plays a crucial role in regulating the flow field of a continuous wind tunnel, and its positioning precision directly impacts the control accuracy of the Mach number. A high‐precision positioning control algorithm for the wind tunnel centrosome is proposed based on a model predictive control framework. Since that the centrosome is a typical non‐linear system with a Hammerstein structure comprising an input backlash and a linear dynamic block in series, a parameterized least‐squares identification method is constructed based on an adaptive forgetting factor strategy and a centrosome position prediction model with input backlash is established. To counteract the weakening effect of the backlash non‐linear block on the control signal, a compensator is constructed to compensate for the non‐linear input block. Considering that the input undetectable disturbance signal in the actuator may lead to unpredictable responses, an intermediate state observer is designed and the stable convergence of the observer algorithm is also proved. Finally, the closed‐loop stability of the proposed control algorithm is analyzed by constructing a Lyapunov function. Experimental testing verifies the superiority and applicability of the proposed algorithm.

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Section: Mechanism Analyzing Of Centrosome Systemmentioning

confidence: 99%

“…III. Use the x(k) in Equation (24) and ûB (k) in Equation (25) to construct the φm (k), φn (k), and φ(k) . IV.…”

Section: Identification Of Wind Tunnel Centrosome Systemmentioning

confidence: 99%

Precision positioning control of wind tunnel centrosome

Liu,

Yuan,

Mao

2023

IET Control Theory & Appl

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“…A switched model predictive control strategy was designed on the basis of a piecewise‐affine backlash model, which had reduced the shakes effectively and allowed the input saturation [7]. Based on the switching model of a system with backlash, a variable gain controller with a switching observer was implemented to compensate for backlash nonlinearity and estimate system states [8, 9]. To date, the rebound problem caused by backlash nonlinearity is still a challenging task to solve, which has attracted people to develop advanced methods to reduce its adversary effects.…”

Section: Introductionmentioning

confidence: 99%

An anti‐windup and backlash compensation‐based finite‐time control method for performance enhancement of a class of nonlinear systems

Liu,

Ma,

Zhang

2024

Asian Journal of Control

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Real‐world nonlinear control systems (e.g., robots) are influenced dynamically by backlash and saturation. However, it is lacking of a control design tool with a sound theory to deal with these phenomena and achieve optimal finite‐time stability simultaneously. To this end, we propose a novel anti‐windup and backlash compensation‐based finite‐time control (AWBC‐FTC) method for an unsolved control task of a general class of unstable nonlinear systems under input saturation and backlash nonlinearity. It includes a compound control structure with two layers where the upper switches two control modes and the lower regulates the system in either the backlash mode or the contact mode. New stability theory together with parameter optimization algorithms are also proposed to support new design approaches of two sub‐controllers where the adversary effects of input saturation and backlash are eliminated and the optimal finite state stability under a guaranteed domain of attraction is achieved. Experimental results on a benchmark robot system verify the advantages of the proposed design tools over the other in terms of a bunch of transient and stability measures. Therefore, the work enriches both theory and design of nonlinear systems for a challenging control objective.

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“…In recent years, the dynamic analysis and vibration control design of flexible riser systems have made important achievements. [4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21] For the practical marine flexible riser system, there often exist input nonlinearities which include the input deadzone, 22,23 saturation, 2,24,25 backlash, 26,27 hysteresis, 28,29 parameter uncertainty, and so on. These nonlinearities and uncertainty often lead to deterioration of system performance.…”

Section: Introductionmentioning

confidence: 99%

“…For the practical marine flexible riser system, there often exist input nonlinearities which include the input deadzone, 22,23 saturation, 2,24,25 backlash, 26,27 hysteresis, 28,29 parameter uncertainty, and so on. These nonlinearities and uncertainty often lead to deterioration of system performance.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy backstepping control of flexible marine riser with uncertain parameters and input saturation constraint

Wan

Zhou

Zhang

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part I:

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To suppress the vibration of a flexible riser system with input saturation and uncertain parameters under the influence of unknown external disturbances, an adaptive fuzzy backstepping boundary control algorithm was designed. First, the backstepping method and Lyapunov function are used to analyze the subsystem and design the virtual control law. On this basis, the adaptive fuzzy system was designed to approximate the unknown nonlinear term in the design process, and the smooth hyperbolic tangent function and the auxiliary system based on Nussbaum function were introduced to limit control input. The stability and uniform boundedness of the closed-loop control system are proved by the Lyapunov stability theory without simplifying or discretizing the infinite dimensional dynamic model. Finally, the effectiveness of the proposed control algorithm is verified by comparing the control effect with proportional–integral–derivative control and the previous adaptive backstepping control by MATLAB simulation. The simulation results show that the proposed control algorithm can overcome the uncertainty of system parameters and effectively suppress the riser vibration under input constraints, and its control effect is better than proportional–integral–derivative control and adaptive backstepping control.

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Variable gain switching exact differential observer‐based compensation control for servo system with backlash

Cited by 4 publications

References 33 publications

Precision positioning control of wind tunnel centrosome

Precision positioning control of wind tunnel centrosome

An anti‐windup and backlash compensation‐based finite‐time control method for performance enhancement of a class of nonlinear systems

Adaptive fuzzy backstepping control of flexible marine riser with uncertain parameters and input saturation constraint

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