Funnel tracking control for nonlinear servo drive systems with unknown disturbances.
Shubo Wang1, Siqi Li2, Qiang Chen3
1School of Automation, Qingdao University, and Shanodng Key Laboratory of Industrial Control Technology, Qingdao, 266071, China.
ISA Transactions
|December 26, 2021
Summary
This study introduces a robust tracking control strategy for servo drive systems, ensuring precise performance despite unknown disturbances. The novel approach guarantees minimal tracking errors and effective disturbance rejection for improved system reliability.
Area of Science:
- Control Systems Engineering
- Robotics and Automation
Background:
- Servo drive systems are crucial in automation but susceptible to unknown disturbances and sensor noise.
- Existing control strategies often struggle to maintain precise tracking performance under such conditions.
Purpose of the Study:
- To develop a novel robust tracking control strategy for servo drive systems.
- To guarantee tracking error within a prescribed boundary despite unknown disturbances.
- To reduce sensor noise for enhanced control performance.
Main Methods:
- A modified funnel variable was defined and integrated into the control design.
- A robust integral of the sign of the error (RISE) controller was developed.
- Desired compensation technique was incorporated to mitigate sensor noise.
- Lyapunov stability theory was used for system convergence analysis.
Main Results:
- The proposed controller theoretically guarantees asymptotic tracking control performance.
- The strategy effectively rejects bounded disturbances.
- Sensor noise reduction was achieved.
- Numerical and experimental validation confirmed the controller's efficacy.
Conclusions:
- The novel robust tracking control strategy effectively enhances servo drive system performance.
- The approach provides guaranteed tracking accuracy and disturbance rejection.
- This method offers a reliable solution for demanding servo drive applications.
Keywords:
Asymptotic trackingDisturbance rejectionFunnel controlRobust controlServo drive systemsTransient performanceMore Related Videos
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