Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 26, Issue 4, Pages 2204-2214Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2020.3034923
Keywords
Uncertainty; Servosystems; Hydraulic systems; Backstepping; Nonlinear dynamical systems; Mechatronics; Mismatched uncertainty; adaptive control; RISE feedback; asymptotic tracking; servosystem
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Funding
- National Natural Science Foundation of China [51905271, 52075262]
- Natural Science Foundation of Jiangsu Province [BK20190459]
- Fundamental Research Funds for the Central Universities [30920041101]
- Open Foundation of the State Key Laboratory of Fluid Power and Mechatronic Systems [GZKF-201910]
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The article proposes a novel control method for mechanical servosystems to deal with mismatched uncertainties, achieving high accuracy tracking control and can be verified through comparative experiments.
Uncertainties, especially mismatched uncertainties, pose great challenges to high accuracy tracking controller design for mechanical servosystems. In this article, a novel recursive robust integral of the sign of the error (RISE) control method is proposed for mechanical servosystems with mismatched uncertainties. In the controller development, two auxiliary error signals are introduced into the recursive backstepping design framework, and then, RISE feedbacks are synthesized to eliminate the matched and mismatcheduncertainties simultaneously. Moreover, to reduce the design conservatism, an adaptive recursive RISE control law is also developed for mechanical servosystems suffering from both parametric uncertainties and unmodeled disturbances, in which desired-trajectory-based adaptation law is synthesized to achieve compensation for parametric uncertainties. The proposed control methods can theoretically achieve remarkable asymptotic tracking performance with zero steady-state error in spite of matched and mismatched time-variant uncertainties. The proposed controllers are applied to an actual hydraulic servosystem and comparative experiments are performed to verify their effectiveness.
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