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《Journal of Shanghai Jiaotong University》 2014-05
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Adaptive Robust Control for Mechatronic Servo System with State Constraints

WU Yue-fei;HU Zhi-qi;MA Da-wei;YAO Jian-yong;LE Gui-gao;School of Mechanical Engineering,Nanjing University of Science and Technology;Beijing Institute of Control Engineering;  
A nonlinear adaptive robust tracking strategy based on high-gain observer was designed for the servo system with state constraint for actuator dynamics and state measurement noise.A high-gain observer based on the value of the position measurement system was introduced,which consisted of a series of filters to eliminate the noise on the accuracy of the observer and the gain was estimated to ensure the observer robustness.A novel barrier Lyapunov function was proposed for tracking desired guidance commands.In the process of the design,requirements on system states could be satisfied by limiting the magnitude of the virtual control signals.The entire uniform bounded stability of the closed-loop system was proved by Lyapunov method.The system test shows the method suggested in this paper can estimate the speed and position of the load.Compared with the traditional control method,it has the advantages of strong anti-jamming capability,good robustness and rapid speed.
【Fund】: 国家自然科学基金项目(51305203);; “十二五”国防基础科研项目(B2620110005)资助
【CateGory Index】: TM571.6
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1 ZHANG Qiang1,2,WU Qing-xian1,JIANG Chang-sheng1,WANG Yu-hui1(1.College of Automation Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing Jiangsu 210016,China;2.School of Electrical Engineering,University of Jinan,Jinan Shandong 250022,China);Robust reconfigurable tracking control of near space vehicle with actuator dynamic and input constraints[J];Control Theory & Applications;2012-10
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8 ZHANG Yao;XIAN Bin;DIAO Chen;ZHAO Bo;GUO Jian-chuan;Institute of Robotics and Autonomous System,Tianjin Key Laboratory of Process Measurement and Control,School of Electrical Engineering and Automation,Tianjin University;;Robust tracking control design for a flexible air-breathing hypersonic vehicle[J];中南大学学报(英文版);2014-01
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