期刊
ISA TRANSACTIONS
卷 90, 期 -, 页码 178-188出版社
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2018.12.048
关键词
Adaptive control; Disturbance observer; Nonlinearities; Parametric uncertainties; Piezoelectric ultrasonic motor; Variable structure control
This paper presents an enhanced adaptive robust disturbance observer-based motion tracking control methodology. This control approach is established and investigated for a semi-automated hand-held ear surgical device for the treatment of Otitis Media with Effusion. The proposed control methodology is utilised for tracking a desired motion trajectory in the presence of unknown or uncertain system parameters, nonlinearities including hysteresis, and disturbances in the motion system. The stability of the control approach is analysed. The convergence of position and velocity tracking errors is proven theoretically. A precise tracking performance following desired motion trajectory is demonstrated in the experimental study. (C) 2019 ISA. Published by Elsevier Ltd. All rights reserved.
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