High-precision tracking control for high-order fully actuated motion control systems with deadzone nonlinearity

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-09-28 DOI:10.1016/j.conengprac.2025.106598

Caoyuan Gu , Qi Wu , Yao-Wei Wang , Zhongcheng Lei , Wen-An Zhang

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Abstract

This paper studies the high-precision tracking control problem of a class of motion control systems (MCSs) with deadzone characteristic, system uncertainties and external disturbances. First, a higher-order fully actuated (HOFA) tracking error control model for MCSs is established, and the system uncertainties are divided into the known inherent nonlinear part and an unknown parameter perturbation part. Then, a deadzone inverse model is applied to precompensate the inherent part, and the unknown part and external disturbances are treated as equivalent-input-disturbance (EID) on the control input side. Second, an intermediate variable-based EID (IVEID) is designed to obtain more accurate EID estimation by adjusting parameters, and an improved MPC (IMPC) method is constructed to suppress the effect of lumped disturbance. The terminal constraint set is maximized to expand the system stability range and accelerate system convergence, while the terminal penalty is minimized to improve optimization efficiency. Finally, numerical simulation on a single linkage robotic arm and experiment on a pair-drag platform demonstrate that the proposed method achieves at least a 30% improvement in comprehensive performance compared to the improved EID method, which verifies its effectiveness and superiority.

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具有死区非线性的高阶全驱动运动控制系统的高精度跟踪控制

研究了一类具有死区特性、系统不确定性和外界干扰的运动控制系统的高精度跟踪控制问题。首先，建立了mcs的高阶全驱动（HOFA）跟踪误差控制模型，将系统不确定性分为已知固有非线性部分和未知参数摄动部分；然后，采用死区逆模型对固有部分进行预补偿，将未知部分和外部干扰作为控制输入端的等效输入干扰（EID）处理。其次，设计了一种基于中间变量的EID (IVEID)，通过调整参数获得更精确的EID估计，并构造了一种改进的MPC （IMPC）方法来抑制集总扰动的影响。最大化终端约束集，扩大系统稳定范围，加速系统收敛；最小化终端惩罚，提高优化效率。最后，通过对单连杆机械臂的数值仿真和对拖平台的实验表明，与改进的EID方法相比，该方法的综合性能至少提高了30%，验证了该方法的有效性和优越性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.