Adaptive robust motion control of SISO nonlinear systems with implementation on linear motors |
| |
| Affiliation: | 1. National Key Laboratory of Science and Technology on Multispectral Information Processing, School of Automation, Huazhong University of Science and Technology, Wuhan, Hubei 430074, PR China;2. Department of Chemical Engineering, National Tsing-Hua University, Hsin-Chu, Taiwan;1. Department of Dental Hygiene, College of Health Science, Eulji University, 212 Yangji-dong, Sujeong-gu, Seongnam 461-713, Republic of Korea;2. Oral Cancer Research Institute, Yonsei University College of Dentistry, Republic of Korea;3. Department of Oral Biology, Yonsei University College of Dentistry, Republic of Korea;4. The Applied Life Sciences, Graduate School, Yonsei University College of Dentistry, Republic of Korea;1. CICESE Research Center, Electronics and Telecommunication Department, Carretera Tijuana-Ensenada 3918, Zona Playitas, Ensenada, B.C. 22860, Mexico;2. Instituto Politécnico Nacional, CITEDI, Ave. Instituto Politécnico Nacional 1310 Mesa de Otay, Tijuana, B.C. 22510, Mexico;1. Department of Mechanical Engineering, Tsinghua University, Beijing 100084, China;2. Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control, Tsinghua University, 100084, China;3. School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China;4. Key Laboratory of High-efficiency and Clean Mechanical Manufacturing, Ministry of Education, School of Mechanical Engineering, Shandong University, Jinan, Shandong 250061, China |
| |
| Abstract: | For the purpose of controlling an X–Y table driven by linear motors with a high precision, an adaptive robust motion tracking control method is first introduced. The controller is developed based upon a class of SISO nonlinear systems whose nonlinear part can be linearly parameterized. The advantage of such a controller is that parametric uncertainties and unknown disturbances can be dealt with, which is essential for a high precision of the control of linear-motor-driven X–Y table. With the prior knowledge of the bounds of the system parameters, a discontinuous projection is utilized in the adaptive law to ensure the boundedness of the parameters estimates. The algorithm is then implemented on a real X–Y table driven by the linear motors. In the modeling of such a system, fiction effects are also considered, which is useful for the derivation of the adaptive law. Experiments on the X–Y table are carried out and the results show excellent tracking performance of the system. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
