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《Computer Measurement & Control》 2006-09
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Adaptive Asymptotic Tracking of Position Trajectory in Linear Motors

Jin Wenguang , Cheng Guoqing ( Department of Automation, Tsinghua University, Beijing 100084, China; Xiamen University of Technology, Xiamen 361500, China)  
For linear motor servo systems with significant resistance disturbances such as load and end effect, an adaptive controller is designed for asymptotic trajectory tracking. The designed control law does not require the velocity measurement, only the output displacement needs to be measured. A reduced-order observer is first designed using the so-called K -filter structure, then the adaptive observer backstepping technique is applied to derive the trajectory tracking controller together with an adaptation law for disturbance parameters. The closed - loop stability and asymptotic tracking capability are then analyzed theoretically. Simulation studies have been carried out. Simulation results verify that the controller is capable of tracking the target trajectory asymptotically and the parameter estimator converges to its true value when the system is under persistent excitation.
【CateGory Index】: TM359.4
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