Precision Motion Control of Constrained SISO Nonlinear System via Direct Optimized Compensation

Abstract

Maintaining high precision tracking while considering both state and input constraints has always been a challenging issue, where most existing studies merely solve constrained issues and few take integrated performance into account. Thus, we put forwarded a direct optimization-based compensation adaptive robust control (DOCARC) approach for single input single output(SISO) nonlinear system, where the model compensation term of the control input is directly optimized and the reference is simultaneously replanned so as to conform to the constraints. Simulations are conducted in the single-axis linear motor system, and comparative results further verify the superiority and effectiveness of the proposed scheme.