Adaptive Friction Compensation for Tracking Control With Position Error Constraints of Servo Control Systems: A Switched System Point of View

IF 3.9 4区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Adaptive Control and Signal Processing Pub Date : 2025-01-06 DOI:10.1002/acs.3959

Xiaoyi Tian, Ruicheng Ma, Zhe Gao, Yuanchao Qu

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引用次数: 0

Abstract

This paper will investigate the adaptive backstepping friction compensator for a class of servo control systems from a switched system point of view. Firstly, by introducing a convergence-invariant unbounded transformation, the position error bounds are incorporated into the original system. Secondly, an integral term is introduced to increase the robustness and the $L_{G} V$ -backstepping technique is utilized to deal with the sign-indefinite term. Then, an adaptive controller with a Coulomb friction estimator is obtained and the generated closed-loop error system has the upper block-triangle structure, which can be treated as a pair of cascade-connected systems. Further, the common Lyapunov function (CLF) is obtained. The objects of asymptotical tracking with position error constraints and identification of the Coulomb friction coefficient can be realized. By similar methods, we propose adaptive friction compensators for the viscous friction model and the Coulomb & viscous model. Finally, the simulation results demonstrate the advantages of the proposed methods.

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来源期刊

International Journal of Adaptive Control and Signal Processing 工程技术-工程：电子与电气

CiteScore

5.30

自引率

16.10%

发文量

163

审稿时长

5 months

期刊介绍： The International Journal of Adaptive Control and Signal Processing is concerned with the design, synthesis and application of estimators or controllers where adaptive features are needed to cope with uncertainties.Papers on signal processing should also have some relevance to adaptive systems. The journal focus is on model based control design approaches rather than heuristic or rule based control design methods. All papers will be expected to include significant novel material. Both the theory and application of adaptive systems and system identification are areas of interest. Papers on applications can include problems in the implementation of algorithms for real time signal processing and control. The stability, convergence, robustness and numerical aspects of adaptive algorithms are also suitable topics. The related subjects of controller tuning, filtering, networks and switching theory are also of interest. Principal areas to be addressed include: Auto-Tuning, Self-Tuning and Model Reference Adaptive Controllers Nonlinear, Robust and Intelligent Adaptive Controllers Linear and Nonlinear Multivariable System Identification and Estimation Identification of Linear Parameter Varying, Distributed and Hybrid Systems Multiple Model Adaptive Control Adaptive Signal processing Theory and Algorithms Adaptation in Multi-Agent Systems Condition Monitoring Systems Fault Detection and Isolation Methods Fault Detection and Isolation Methods Fault-Tolerant Control (system supervision and diagnosis) Learning Systems and Adaptive Modelling Real Time Algorithms for Adaptive Signal Processing and Control Adaptive Signal Processing and Control Applications Adaptive Cloud Architectures and Networking Adaptive Mechanisms for Internet of Things Adaptive Sliding Mode Control.