Adaptive Robust Control of AC Motors with Fractional-Order Disturbance Observer

摘要：

　　Parametric uncertainties and uncertain nonlinearities always exist in mechatronics servo system and degrade their tracking accuracy.In this paper,adaptive robust control with fraction-order disturbance observer is synthesized for high accuracy motion control of a AC motor.The global stability was proved via Lyapunov Theorem.The proposed controller accounts for not only the parameter deviation(e.g.,unknown inertia load),but also the uncertain nonlinearities(coming from modeling errors and external disturbances).In the resulting controller,parameter adaptation was used to reduce the parameter uncertainties,the fractional-order disturbance observer was used to estimate the modeling errors and external disturbances.To attenuate the uncompensated disturbances and errors,the robust controller was designed.The comparative simulation results show that the proposed controller guarantees a prescribed tracking performance.

关键词： Uncertainties adaptive robust control fractional-order disturbance observer motion control

作者: DONG Zhenle MA Dawei WANG Xiaofeng YAO Jianyong

作者单位: School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,Jiangsu,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 4181-4185

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）