基于光滑自适应动态表面控制的摩擦补偿策略

Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328) Pub Date : 1999-12-01 DOI:10.1109/CCA.1999.801124

A. Maulana, H. Ohmori, A. Sano

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引用次数: 32

摘要

研究了基于光滑自适应动态面控制设计的直流电机伺服机构位置设定值调节摩擦补偿方案。该控制方案是通过反推过程建立的，其中将坐标的变化解释为滑动面设计。对于控制器的设计，不需要精确的摩擦模型知识。利用Lyapunov的直接方法，得到了位置集点调节的全局渐近稳定性。通过计算机仿真和位置伺服实验验证了该设计的有效性。

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Friction compensation strategy via smooth adaptive dynamic surface control

Deals with the development of a friction compensation scheme for positional set-point regulation of a DC motor servomechanism via smooth adaptive dynamic surface control design. The control scheme is built through a backstepping procedure in which the change of coordinate is interpreted as sliding surface design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability for positional set-point regulation is achieved using Lyapunov's direct method. Computer simulation and a position servo experiment are presented to confirm the capability of the proposed design.

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来源期刊

Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)

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