Adaptive robust motion control of SISO nonlinear systems with implementation on linear motors

作者：Wu, Jianhua^*; Pu, Donglin; Ding, Han

来源：Mechatronics, 2007, 17(4-5): 263-270.

DOI：10.1016/j.mechatronics.2006.12.001

• adaptive control
• robust control
• motion control
• linear motor
• sliding mode

For the purpose of controlling an X-Y table driven by linear motors with a high precision, an adaptive robust motion tracking control method is first introduced. The controller is developed based upon a class of SISO nonlinear systems whose nonlinear part can be linearly parameterized. The advantage of such a controller is that parametric uncertainties and unknown disturbances can be dealt with, which is essential for a high precision of the control of linear-motor-driven X-Y table. With the prior knowledge of the bounds of the system parameters, a discontinuous projection is utilized in the adaptive law to ensure the boundedness of the parameters estimates. The algorithm is then implemented on a real X-Y table driven by the linear motors. In the modeling of such a system, fiction effects are also considered, which is useful for the derivation of the adaptive law. Experiments on the X-Y table are carried out and the results show excellent tracking performance of the system.

• 出版日期2007-6
• 单位上海交通大学