Asymptotic Tracking Control of Motor Servo System with Input Constraint

doi:10.3969/j.issn.1000-1093.2015.08.005

Abstract

Abstract: Parameter uncertainties, uncertain nonlinearities (especially the nonlinear frictions) and input constraint are the common problems existing in motor servo systems. For the above problems, a new method, based on the robust integral of the sign of error (RISE) design, is proposed to achieve the asymptotic tracking performance in the presence of parameter uncertainties, uncertain nonlinearities and input constraint. The stability of asymptotic tracking is proved via the Lyapunov analysis. Simulation results illustrate that the proposed approach can be used to achieve the excellent response speed and tracking performance under input constraint, and has a strong robustness.

Key words: control science and technology, motor servo system, robust integral of the sign of error, input constraint, asymptotic tracking, modeling uncertainty, continuous friction compensation

CLC Number:

TJ393

DONG Zhen-le, YAO Jian-yong, MA Da-wei. Asymptotic Tracking Control of Motor Servo System with Input Constraint[J]. Acta Armamentarii, 2015, 36(8): 1405-1410.

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