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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Adaptive integral robust control and application to electromechanical servo systems.

Wenxiang Deng1, Jianyong Yao2

  • 1School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China.

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|February 4, 2017
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Summary

This study introduces adaptive robust integral control using robust integral of the sign of the error (RISE) feedback for uncertain nonlinear systems. The adaptive RISE controller ensures robustness against unknown disturbances and parametric uncertainties, achieving asymptotic tracking error convergence.

Keywords:
AdaptiveElectrical motor servo systemRISE feedbackUncertain nonlinear system

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Area of Science:

  • Control Theory
  • Nonlinear Systems
  • Adaptive Control

Background:

  • Uncertain nonlinear systems present significant control challenges due to unpredictable disturbances and parameter variations.
  • Existing robust control methods often require prior knowledge of disturbance bounds, limiting their applicability.
  • Integral robust control strategies aim to enhance system performance and stability in the presence of uncertainties.

Purpose of the Study:

  • To propose a novel continuous adaptive integral robust control strategy for uncertain nonlinear systems.
  • To develop a robust integral of the sign of the error (RISE) feedback mechanism with online adaptive gain adjustment.
  • To address both unknown additive disturbances and parametric uncertainties without requiring prior bound information.

Main Methods:

  • Implementation of a continuous adaptive integral robust control framework.
  • Utilization of robust integral of the sign of the error (RISE) feedback with an adaptive gain.
  • Integration of adaptive compensation for parametric uncertainties.
  • Application of Lyapunov stability analysis to guarantee performance.

Main Results:

  • The proposed adaptive RISE feedback ensures robustness against disturbances without prior bound knowledge.
  • Integrated adaptive compensation reduces design conservatism in the presence of parametric uncertainties.
  • Lyapunov analysis confirms asymptotic convergence of tracking errors to zero with continuous control efforts.
  • Numerical simulations and experimental results on an electromechanical servo system validate controller effectiveness.

Conclusions:

  • The developed adaptive integral robust control with RISE feedback offers a robust solution for uncertain nonlinear systems.
  • The online adaptation of control gains effectively handles unknown disturbances and parametric uncertainties.
  • The controller demonstrates high performance, achieving asymptotic tracking error convergence and validated through simulations and experiments.