A performance oriented multi-loop constrained adaptive robust tracking control of one-degree-of-freedom mechanical systems: Theory and experiments

Lu Lu, Bin Yao

Research output: Contribution to journalArticlepeer-review

26 Scopus citations

Abstract

A performance oriented multi-loop approach to the adaptive robust tracking control of one-degree-of-freedom mechanical systems with input saturation, state constraints, parametric uncertainties and input disturbances is presented. The control system contains three loops. In the outer loop, constrained optimization algorithms are developed to generate a replanned trajectory on-line at a low sampling rate so that the converging speed of the overall system response to the desired target is maximized while not causing input saturation and the violation of state constraints. In the inner loop, a constrained adaptive robust control (ARC) law is synthesized and implemented at high sampling rate to achieve the required robust tracking performances with respect to the replanned trajectory even with various types of uncertainties and input saturation. In the middle loop, a set-membership identification (SMI) algorithm is implemented to obtain a tighter estimate of the upper bound of the inertia so that more aggressive replanned trajectory could be used to further improve the overall system response speed. Interaction of the three loops is explicitly characterized by a set of inequalities that the design variables of each loop have to satisfy. It is theoretically shown that the resulting closed-loop system can track feasible desired trajectories with a guaranteed converging time and steady-state tracking accuracy without violating the state constraints. Experiments have been carried out on a linear motor driven industrial positioning system to compare the proposed multi-loop constrained ARC algorithm with some of the traditional control algorithms. Comparative experimental results obtained confirm the superior performance of the proposed algorithm over existing ones.

Original languageEnglish (US)
Pages (from-to)1143-1150
Number of pages8
JournalAutomatica
Volume50
Issue number4
DOIs
StatePublished - Apr 2014
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Keywords

  • Adaptive control
  • Constrained control
  • Input saturation
  • Linear motors
  • Motion control

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