Robust adaptive deadzone compensation of DC servo system

2006 ◽  
Vol 153 (6) ◽  
pp. 709-713 ◽  
Author(s):  
W. Zhonghua ◽  
C. Lin ◽  
Z. Shusheng ◽  
Y. Bo
Keyword(s):  
Servo System ◽  
Robust Adaptive

High-accuracy robust adaptive motion control of a torque-controlled motor servo system with friction compensation based on neural network

2018 ◽  
Vol 233 (7) ◽  
pp. 2318-2328 ◽  
Author(s):  
Jian Hu ◽  
Yuangang Wang ◽  
Lei Liu ◽  
Zhiwei Xie
Keyword(s):  
Neural Network ◽  
Motion Control ◽  
Servo System ◽  
High Accuracy ◽  
Robust Adaptive Control ◽  
Lyapunov Theory ◽  
Parametric Estimation ◽  
Friction Compensation ◽  
Nonlinear Friction ◽  
Robust Adaptive

In this paper, a high-accuracy motion control of a torque-controlled motor servo system with nonlinear friction compensation is presented. Friction always exists in the servo system and reduces its tracking accuracy. Thus, it is necessary to compensate for the friction effect. In this paper, a novel controller that combines robust adaptive control with friction compensation based on neural network observer is proposed. An improved LuGre friction model is applied into the friction compensation as it is known as a good model to express the nonlinear friction. A single hidden-layer network is utilized to observe the immeasurable friction state. Then, the robust adaptive controller is used to handle the parametric uncertainty, the parametric estimation error, friction compensation error, and other uncertainties. Lyapunov theory is utilized to analyze the stability of the closed-loop system. The experimental results demonstrate the effectiveness of the proposed algorithm.

Robust adaptive control of the DC servo system with friction and backlash

2017 ◽  
Author(s):  
Zhonghua Wang ◽  
Yuliang Dong ◽  
Yueyang Li ◽  
Meng Li ◽  
Yongliang Zhang
Keyword(s):  
Adaptive Control ◽  
Servo System ◽  
Robust Adaptive Control ◽  
Robust Adaptive

A Servo System of AC Motor Based on Voltage Modulation Fitting for FPGA and Consideration of Voltage Saturation

2008 ◽  
Vol 128 (8) ◽  
pp. 1044-1051 ◽  
Author(s):  
Kenji Takahashi ◽  
Tosiyuki Kanmachi ◽  
Kiyoshi Ohishi
Keyword(s):  
Servo System ◽  
Ac Motor ◽  
Voltage Saturation

Robust High-Speed Positioning Servo System Based on Disturbance Observer

2009 ◽  
Vol 129 (3) ◽  
pp. 235-242 ◽  
Author(s):  
Masaki Sazawa ◽  
Kiyoshi Ohishi ◽  
Seiichiro Katsura
Keyword(s):  
Disturbance Observer ◽  
High Speed ◽  
Servo System
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