TY - GEN
T1 - Linear motor tracking control based on adaptive robust control and extended state observer
AU - Yan, Liang
AU - Qiao, Hongkai
AU - Jiao, Zongxia
AU - Duan, Zihao
AU - Wang, Tianyi
AU - Chen, Ran
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - Trajectory tracking control for linear oscillating motor is critical to improve the performance of linear electro-hydrostatic actuator (LEHA). However, both structured uncertainties (i.e., parametric uncertainties) and unstructured uncertainties (i.e., unmodeled dynamics, external disturbances, nonlinear friction) exist in LEHA may severely deteriorate the control performance of the system. In this paper, a control strategy which integrates adaptive robust control (ARC) and extended state observer (ESO) together is proposed to handle both structured and unstructured uncertainties. The proposed control strategy takes the advantages of ARC and ESO, which nullifies the disadvantages of ARC and ESO as well, guarantees accurate high-frequency trajectory tracking performance. In addition, a second-order system model is established by adapting dipole cancellation method and dominant pole theory before the design procedure of the controller. The simulation results are presented to verify the effectiveness and the achievable excellent performance of the proposed control strategy.
AB - Trajectory tracking control for linear oscillating motor is critical to improve the performance of linear electro-hydrostatic actuator (LEHA). However, both structured uncertainties (i.e., parametric uncertainties) and unstructured uncertainties (i.e., unmodeled dynamics, external disturbances, nonlinear friction) exist in LEHA may severely deteriorate the control performance of the system. In this paper, a control strategy which integrates adaptive robust control (ARC) and extended state observer (ESO) together is proposed to handle both structured and unstructured uncertainties. The proposed control strategy takes the advantages of ARC and ESO, which nullifies the disadvantages of ARC and ESO as well, guarantees accurate high-frequency trajectory tracking performance. In addition, a second-order system model is established by adapting dipole cancellation method and dominant pole theory before the design procedure of the controller. The simulation results are presented to verify the effectiveness and the achievable excellent performance of the proposed control strategy.
KW - adaptive robust control
KW - extended state observer
KW - linear oscillating motor
KW - tracking control
KW - uncertainties
UR - https://www.scopus.com/pages/publications/85049062487
U2 - 10.1109/ICCIS.2017.8274864
DO - 10.1109/ICCIS.2017.8274864
M3 - 会议稿件
AN - SCOPUS:85049062487
T3 - 2017 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017 - Proceedings
SP - 704
EP - 709
BT - 2017 IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Cybernetics and Intelligent Systems, CIS 2017 and IEEE Conference on Robotics, Automation and Mechatronics, RAM 2017
Y2 - 19 November 2017 through 21 November 2017
ER -