未知干扰和不确定性非线性伺服系统的eso自适应滑动控制

2018 10th International Conference on Modelling, Identification and Control (ICMIC) Pub Date : 2018-07-01 DOI:10.1109/ICMIC.2018.8529902

Shubo Wang, Haisheng Yu, Xuehui Gao, Xudong Liu

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引用次数: 3

摘要

针对具有未知干扰和不确定性的伺服系统，提出了一种自适应滑模控制器。采用一个只有一个参数(系统带宽$\omega_{0}$)可调谐的扩展状态观测器(ESO)来估计未知干扰和不可测系统状态。然后，设计了一种基于扰动估计的自适应滑模控制器，实现了伺服机构的位置跟踪。通过转台伺服机构的仿真对比，验证了所设计控制方法的有效性。

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ESO-Based Adaptive Sliding Control for Nonlinear Servo System with Unknown Disturbance and Uncertainties

This paper proposed adaptive sliding mode controller for servo systems with unknown disturbance and uncertainties. An extended state observer (ESO), which has only one parameter (system bandwidth $\omega_{0}$) to be tuned, is employed to estimate the unknown disturbance and unmeasured system states. Then, an adaptive sliding mode controller based on disturbance estimation value is devised for servo mechanism to achieve position tracking. Comparative simulations on a turntable servo mechanism confirm the effectiveness of the devised control method.

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来源期刊

2018 10th International Conference on Modelling, Identification and Control (ICMIC)

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