Open Access
2013 Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation
Jianyong Yao, Guichao Yang, Zongxia Jiao, Dawei Ma
Abstr. Appl. Anal. 2013(SI41): 1-14 (2013). DOI: 10.1155/2013/837548


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.


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Jianyong Yao. Guichao Yang. Zongxia Jiao. Dawei Ma. "Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation." Abstr. Appl. Anal. 2013 (SI41) 1 - 14, 2013.


Published: 2013
First available in Project Euclid: 26 February 2014

zbMATH: 07095415
MathSciNet: MR3132545
Digital Object Identifier: 10.1155/2013/837548

Rights: Copyright © 2013 Hindawi

Vol.2013 • No. SI41 • 2013
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