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Abstract and Applied AnalysisVolume 2013 2013, Article ID 837548, 14 pages

Research Article

The School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China

The School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China

Received 4 September 2013; Accepted 12 September 2013

Academic Editor: Carlo Bianca

Copyright © 2013 Jianyong Yao et al.
This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Uncertainties including the structured and unstructured, especially the nonlinear frictions, always exist in physical servo systems and degrade their tracking accuracy.
In this paper, a practical method named adaptive robust controller ARC is synthesized with a continuous differentiable friction model for high accuracy motion control of a direct-drive dc motor, which results in a continuous control input and thus is more suitable for application.
To further reduce the noise sensitivity and improve the tracking accuracy, a desired compensation version of the proposed adaptive robust controller is also developed and its stability is guaranteed by a proper robust law.
The proposed controllers not only account for the structured uncertainties e.g., parametric uncertainties but also for the unstructured uncertainties e.g., unconsidered nonlinear frictions.
Furthermore, the controllers theoretically guarantee a prescribed output tracking transient performance and final tracking accuracy in both structured and unstructured uncertainties while achieving asymptotic output tracking in the absence of unstructured uncertainties, which is very important for high accuracy control of motion systems.
Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategies.

Autor: Jianyong Yao, Guichao Yang, Zongxia Jiao, and Dawei Ma



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