Asymptotic adaptive tracking control and application to mechatronic systems |
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| Authors: | Xiaowei Yang Wenxiang Deng Jianyong Yao Xianglong Liang |
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| Institution: | 1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China;2. State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou, 310027, China;1. 115409, 31 Kashirskoe shosse, Moscow, Russia;1. Karlsruhe Institute of Technology, Kaiserstrasse 10, 76131 Karlsruhe Germany;1. Fraunhofer IEM, Zukunftsmeile 1, 33102 Paderborn, Germany;2. Heinz Nixdorf Institute, University of Paderborn, Fürstenallee 11, 33102 Paderborn, Germany |
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| Abstract: | This article develops an asymptotic tracking control strategy for uncertain nonlinear systems subject to additive disturbances and parametric uncertainties. To fulfill this work, an adaptive-gain disturbance observer (AGDO) is first designed to estimate additive disturbances and compensate them in a feedforward way, which eliminates the impact of additive disturbances on tracking performance. Meanwhile, an updated observer gain law driven by observer estimation errors is adopted in AGDO, which reduces the conservatism of observer gain selection and is beneficial to practical implementation. Also, the parametric uncertainties existing in systems are addressed via an integrated parametric adaptive law, which further decreases the learning burden of AGDO. Based on the parametric adaption technique and the proposed AGDO approach, a composite controller is employed. The stability analysis uncovers the system asymptotic tracking performance can be attained even when facing time-variant additive disturbances and parametric uncertainties. In the end, comparative experimental results of an actual mechatronic system driven by a dc motor uncover the validity of the developed approach. |
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