Eso-Based Adaptive Robust Control of Dual Motor Driving Servo System

2016 ◽  
Vol 18 (6) ◽  
pp. 2358-2365 ◽  
Author(s):  
Xuemei Ren ◽  
Dongwu Li ◽  
Guofa Sun ◽  
Wei Zhao
Keyword(s):  
Robust Control ◽  
Servo System ◽  
Adaptive Robust Control

scholarly journals Nonlinear Adaptive Robust Control of the Electro-Hydraulic Servo System

2020 ◽  
Vol 10 (13) ◽  
pp. 4494 ◽  
Author(s):  
Lijun Feng ◽  
Hao Yan
Keyword(s):  
Robust Control ◽  
Position Control ◽  
External Disturbance ◽  
Servo System ◽  
Adaptive Robust Control ◽  
Superior Performance ◽  
Parametric Uncertainties ◽  
State Equations ◽  
Hydraulic Servo ◽  
Hydraulic Servo System

This paper focuses on high performance adaptive robust position control of electro-hydraulic servo system. The main feature of the paper is the combination of adaptive robust algorithm with discrete disturbance estimation to cope with the parametric uncertainties, uncertain nonlinearities, and external disturbance in the hydraulic servo system. First of all, a mathematical model of the single-rod position control system is developed and a nonlinear adaptive robust controller is proposed using the backstepping design technique. Adaptive robust control is used to encompass the parametric uncertainties and uncertain nonlinearities. Subsequently, a discrete disturbance estimator is employed to compensate for the effect of strong external disturbance. Furthermore, a special Lyapunov function is formulated to handle unknown nonlinear parameters in the system state equations. Simulations are carried out, and the results validate the superior performance and robustness of the proposed method.

Adaptive Robust Control for Servo System with Combustion Gas Flow Disturbance and Load Uncertainties

2014 ◽  
Vol 532 ◽  
pp. 58-61
Author(s):  
Ying Zheng ◽  
Da Wei Ma ◽  
Jian Yong Yao ◽  
Yue Fei Wu
Keyword(s):  
Robust Control ◽  
Gas Flow ◽  
Servo System ◽  
Adaptive Robust Control ◽  
Position Tracking ◽  
Control Law ◽  
Flow Disturbance ◽  
Combustion Gas ◽  
Control Scheme ◽  
System Uncertainties

An adaptive robust control scheme is presented. The model of servo system with combustion gas flow disturbance is established. The control law is designed to compensate the load disturbances and system uncertainties. System position tracking performances are indicated through simulation with effective improvement by the proposed method.

Adaptive robust control of dynamic gas pressure in a vacuum servo system

Vacuum ◽  
2018 ◽  
Vol 148 ◽  
pp. 184-194 ◽  
Author(s):  
Xiaoxia Cheng ◽  
Linglong Du ◽  
Gang Yang ◽  
Baoren Li
Keyword(s):  
Robust Control ◽  
Servo System ◽  
Adaptive Robust Control ◽  
Gas Pressure

Adaptive robust disturbance compensating control for a servo system in the presence of both friction and deadzone

2016 ◽  
Vol 231 (3) ◽  
pp. 432-445 ◽  
Author(s):  
Jinho Jung ◽  
Donghyuk Lee ◽  
Jong Shik Kim ◽  
Seong Ik Han
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Servo System ◽  
Friction Model ◽  
Adaptive Robust Control ◽  
Estimation Errors ◽  
Control Scheme ◽  
Adaptive Laws ◽  
Control Methodology ◽  
Funnel Control

An adaptive robust control that does not need sophisticated plant modeling work is proposed for precise output positioning of a servo system in the presence of both friction and deadzone nonlinearities. It is difficult to achieve effective motion control by traditional linear control methodology for these types of nonlinearities, without the aid of a proper compensation scheme for nonlinearity. In this study, dynamic friction is modeled by a Tustin friction model, and inverse deadzone method is adopted to compensate deadzone effect. The adaptive laws of the unknown system dynamic parameters, friction and deadzone, are derived. Furthermore, a robust control method with funnel control is proposed to compensate for unmodeled and estimation errors. The boundedness and convergence of the closed-loop system are ensured by a Lyapunov stability analysis. The performance of the proposed control scheme is verified through experiments on the XY table servo system and the robotic manipulator.

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