High Percision Adaptive Robust Control for Servo System with Uncertain Dead- Zone Nonlinearity

摘要：

A high performance adaptive robust control (ARC) algorithm is developed for servo system with unknown input dead-zone nonlinearity, parametric uncertainties and uncertain nonlinearities disturbances. Due to the inherent nonlinear nature of dead-zone, existing robust adaptive control methods mainly focus on using on-line parameter adaptation for an approximate inversion of the unknown deadzone. As a result, even in the absence of other uncertain nonlinearities and disturbance, asymptotic output tracking can never be achieved by continuous controller for the non-smooth characteristics of dead-zone. Unlike many existing control schemes, the dead-zone inverse is not constructed in this paper. A new linearly parameterized model for dead-zone is presented and the projection algorithm is used for parameters estimation. The proposed adaptive robust control law consists of three parts: model compensation term, the robust control term and robust feedback term. The ARC ensure that all closed-loop signals are bounded and achieves the tracking within the desired precision. Simulations results illustrate the performance of the ARC.

关键词： dead-zone nonlinearity adaptive control robust control servo system

作者: Jian Guo Yifei Wu Bin Yao Sun Ying

作者单位: School of Automation Nanjing University of Science and Technology Nanjing City, Jiangsu Province, Ch Nanjing University of Science and Technology Nanjing City, Jiangsu Province, China, 21009 School of Mechanical Engineering Purdue University, USA West Lafayette, IN 47907

会议类型: 国际会议

会议名称: 2010 International Conference on Measurement and Control Engineering(2010年IEEE测量与控制工程国际会议 ICMCE2010)

会议地点: 成都

会议语种:英文

页码: 621-625

在线出版日期: 2010-11-16（万方平台首次上网日期，不代表论文的发表时间）