A performance oriented multi-loop constrained adaptive robust tracking control of linear motor drive systems: Theory and experiments

Lu Lu, Bin Yao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

A performance oriented multi-loop approach to the tracking control of linear motor drive systems with input saturation, state constraints, parametric uncertainties and input disturbances is proposed. In the inner loop, a constrained adaptive robust control (ARC) law is synthesized to achieve the required robust tracking performances with respect to on-line replanned trajectory in the presence of input saturation and various types of uncertainties. In the middle loop, a set-membership identification (SMI) algorithm is implemented to obtain a monotonically decreasing estimate of the upper bound of the inertia so that more aggressive trajectory replanning can be done. In the outer loop, a replanned trajectory is generated to minimize the converging time of the overall system response to the desired target while not violating various constraints. It is theoretically shown that the resulting closed-loop system can track any feasible desired trajectory with a guaranteed converging time and steady-state tracking accuracy without violating the state constraints. Experimental results obtained on a HIWIN linear motor show that the proposed algorithm indeed achieves closed-loop stability and small steady-state tracking errors with a transient performance much better than that of the unconstrained ARC algorithm.

Original languageEnglish (US)
Title of host publicationASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Pages85-92
Number of pages8
DOIs
StatePublished - Dec 1 2012
Externally publishedYes
EventASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012 - Fort Lauderdale, FL, United States
Duration: Oct 17 2012Oct 19 2012

Publication series

NameASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
Volume1

Other

OtherASME 2012 5th Annual Dynamic Systems and Control Conference Joint with the JSME 2012 11th Motion and Vibration Conference, DSCC 2012-MOVIC 2012
CountryUnited States
CityFort Lauderdale, FL
Period10/17/1210/19/12

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

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