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Adaptive Robust Motion Control of Direct‐Drive DC Motors with Continuous Friction Compensation

Author

Listed:
  • Jianyong Yao
  • Guichao Yang
  • Zongxia Jiao
  • Dawei Ma

Abstract

Uncertainties including the structured and unstructured, especially the nonlinear frictions, always exist in physical servo systems and degrade their tracking accuracy. In this paper, a practical method named adaptive robust controller (ARC) is synthesized with a continuous differentiable friction model for high accuracy motion control of a direct‐drive dc motor, which results in a continuous control input and thus is more suitable for application. To further reduce the noise sensitivity and improve the tracking accuracy, a desired compensation version of the proposed adaptive robust controller is also developed and its stability is guaranteed by a proper robust law. The proposed controllers not only account for the structured uncertainties (e.g., parametric uncertainties) but also for the unstructured uncertainties (e.g., unconsidered nonlinear frictions). Furthermore, the controllers theoretically guarantee a prescribed output tracking transient performance and final tracking accuracy in both structured and unstructured uncertainties while achieving asymptotic output tracking in the absence of unstructured uncertainties, which is very important for high accuracy control of motion systems. Extensive comparative experimental results are obtained to verify the high‐performance nature of the proposed control strategies.

Suggested Citation

  • Jianyong Yao & Guichao Yang & Zongxia Jiao & Dawei Ma, 2013. "Adaptive Robust Motion Control of Direct‐Drive DC Motors with Continuous Friction Compensation," Abstract and Applied Analysis, John Wiley & Sons, vol. 2013(1).
    • Handle: RePEc:wly:jnlaaa:v:2013:y:2013:i:1:n:837548
    DOI: 10.1155/2013/837548
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    References listed on IDEAS

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    1. Jiacai Huang & Hongsheng Li & YangQuan Chen & Qinghong Xu, 2012. "Robust Position Control of PMSM Using Fractional‐Order Sliding Mode Controller," Abstract and Applied Analysis, John Wiley & Sons, vol. 2012(1).
    2. Alejandro Rincón & Fredy E. Hoyos & Fabiola Angulo, 2013. "Controller Design for a Second-Order Plant with Uncertain Parameters and Disturbance: Application to a DC Motor," Abstract and Applied Analysis, Hindawi, vol. 2013, pages 1-16, March.
    3. Jiacai Huang & Hongsheng Li & YangQuan Chen & Qinghong Xu, 2012. "Robust Position Control of PMSM Using Fractional-Order Sliding Mode Controller," Abstract and Applied Analysis, Hindawi, vol. 2012, pages 1-33, November.
    4. Alejandro Rincón & Fredy E. Hoyos & Fabiola Angulo, 2013. "Controller Design for a Second‐Order Plant with Uncertain Parameters and Disturbance: Application to a DC Motor," Abstract and Applied Analysis, John Wiley & Sons, vol. 2013(1).
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    Cited by:

    1. Cungui Yu & Xianwei Qi, 2014. "Simplified Adaptive Robust Motion Control with Varying Boundary Discontinuous Projection of Hydraulic Actuator," Journal of Applied Mathematics, John Wiley & Sons, vol. 2014(1).

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