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1. ESO-based Adaptive Robust Control of Dual Motor Driving Servo System | |||
Ren Xue-Mei,Sun Guo-Fa, Li Dong-Wu,Zhao Wei | |||
Information Science and System Science 24 June 2014 | |||
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Abstract:Based on extended state observer (ESO), we propose adaptive robust control (ARC) for dual motor driving servo system, in which there exist nonlinearities affecting control performance. First, backlash and friction phenomenon are analyzed in detail and nonlinear model of the plant is derived. Then, for the obtained nonlinear model of dual motor drive servo system with perturbation and disturbance, ESO is designed to estimate the lumped uncertainty online before designing ARC. Considering the estimated lumped disturbance signal, Lyapunov approach is employed to design adaptive law, which guarantees closed-loop stability and boundedness of all signals. Furthermore, transient performance of tracking behavior is guaranteed by initialization in the sense of $L_infty$ norm. Finally, extensive experimental results on a practical test rig validate the effectiveness of our proposed method. | |||
TO cite this article:Ren Xue-Mei,Sun Guo-Fa, Li Dong-Wu, et al. ESO-based Adaptive Robust Control of Dual Motor Driving Servo System[OL].[24 June 2014] http://en.paper.edu.cn/en_releasepaper/content/4601212 |
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