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Finite time parameter estimation-based adaptive predefined performance control for servo mechanisms.

Shubo Wang1, Jing Na2, Haisheng Yu1

  • 1School of Automation, Qingdao University, Qingdao, 266071, China.

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|December 12, 2018
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Summary
This summary is machine-generated.

This study introduces an adaptive funnel control for servo systems with unknown parameters. The new method enhances performance and ensures finite-time convergence for parameter estimation.

Keywords:
Adaptive controlFinite time convergenceParameter estimationPredefined performance controlServo systems

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Area of Science:

  • Control Systems Engineering
  • Robotics
  • Mechatronics

Background:

  • Two-inertia servo systems are crucial in automation but often suffer from unknown parameters like inertia and stiffness.
  • Existing control methods may struggle with transient and steady-state performance when system parameters are uncertain.

Purpose of the Study:

  • To develop an adaptive funnel control scheme for two-inertia servo systems with unknown parameters.
  • To improve both transient and steady-state performance of the servo system.
  • To achieve finite-time convergence of parameter estimation.

Main Methods:

  • A modified funnel variable is proposed, replacing the original scaling factor with tracking error.
  • An error transformation incorporating the new funnel variable is used for controller design.
  • An auxiliary filter estimates parameter estimation error, acting as a leakage term in the update law.
  • Sliding mode technique is integrated into the adaptation law for finite-time convergence.

Main Results:

  • The proposed adaptive funnel control scheme effectively manages servo systems with unknown parameters.
  • The modified funnel variable improves transient and steady-state performance compared to original methods.
  • Finite-time convergence of parameter estimation is achieved using sliding mode adaptation.
  • Simulation and experimental results validate the control scheme's effectiveness.

Conclusions:

  • The adaptive funnel control offers a robust solution for two-inertia servo systems with uncertainties.
  • The novel approach enhances system performance and parameter estimation accuracy.
  • This work contributes to the advancement of adaptive control strategies in complex mechanical systems.