| 摘要: |
| A novel adaptive robust control (ARC) is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in $L_2$ norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method. |
| 关键词: Four-motor driving servo systems, adaptive robust control, velocity synchronization control, friction, backlash, actuation failures |
| DOI： |
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| 基金项目:This work was supported by the National Natural Science Foundation of China (Nos. 61433003, 61273150), the Foundation for Innovative Research Groups of the National Natural Science Foundation of China (No. 61321002) and the Doctoral Program of Higher Education of China (No. 20121101110029). |
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| Adaptive robust control for four-motor driving servo system with uncertain nonlinearities |
| W. Zhao,X. Ren |
| (Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing, 100081, China) |
| Abstract: |
| A novel adaptive robust control (ARC) is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in $L_2$ norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method. |
| Key words: Four-motor driving servo systems, adaptive robust control, velocity synchronization control, friction, backlash, actuation failures |
