期刊
CONTROL ENGINEERING PRACTICE
卷 87, 期 -, 页码 76-82出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2019.03.020
关键词
Servo mechanisms; Adaptive control; Friction compensation; Robust integral of the sign of the error
资金
- National Natural Science Foundation of China [61803216, 61573203, 61573204]
- Natural Science Foundation of Shandong Province, China [ZR2018BF022]
- National Key Research and Development Plan [2017YFB1303503]
- Taishan Scholar Special Project Fund [TSQN20161026]
In this paper, a robust adaptive tracking control scheme is developed for servo mechanisms with nonlinear friction dynamics. A continuously differentiable friction model is used to capture the friction behaviors (e.g. Stribeck effect, Coulombic friction and Viscous friction). The robust integral of the sign of the error (RISE) feedback term is employed to design an innovative adaptive controller to compensate nonlinear friction and bounded disturbances. To reduce the effect of noise pollution, the desired trajectory is employed to replace the output signal in controller design. The developed adaptive controller can guarantee the asymptotic tracking performance for nonlinear servo mechanisms in the presence of nonlinear friction and bounded disturbances. Comparative experimental results are used to validate the effectiveness of the developed control algorithm.
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