Single Robust Proportional-Derivative Control for Friction Compensation in Fast and Precise Motion Systems With Actuator Constraint

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Authors

This paper revisits the problem of global asymptotic positioning of uncertain motion systems subject to actuator constraint and friction. A simple model-free saturated control is proposed by incorporating a relay term driven by position error into proportional-derivative (PD) methodology. Lyapunov's direct method is employed to prove global asymptotic positioning stability. The appealing advantages of the proposed approach are that it is conceived within the framework of saturated PD (SPD) control methodology with intuitive structure and absence of modeling parameter and embeds the whole control action within a single saturation function. Benefitted from these advantages, the proposed approach omits the complicated discrimination of the terms that shall be bounded in several saturation functions of the commonly used design and permits easy implementation with an improved performance. An additive feature is that the proposed control has the ability to ensure that the actuator constraint is not breached and assures global asymptotic positioning stability in the presence of unknown friction. Numerical simulations and experimental validations demonstrate the effectiveness and improved performance of the proposed approach. The proposed approach provides a model-free solution for fast transient and high-precision steady-state positioning of uncertain motion systems subject to unknown friction and actuator constraint.
OriginalspracheEnglisch
Aufsatznummer114505
ZeitschriftJournal of Dynamic Systems, Measurement and Control
Jahrgang142
Ausgabenummer11
Anzahl der Seiten10
ISSN0022-0434
DOIs
PublikationsstatusErschienen - 01.11.2020

DOI

Zuletzt angesehen

Publikationen

  1. PLM ‑supported automated process planning and partitioning for collaborative assembly processes based on a capability analysis
  2. Kit based motion generator for a soft walking robot
  3. Errors, error taxonomies, error prevention, and error management
  4. Appendix A: Design, implementation, and analysis of the iGOES project
  5. Mixed Pickels
  6. Graph-Based Early-Fusion for Flood Detection
  7. Design optimization of spiral coils for textile applications by genetic algorithm
  8. On the utility of indirect methods for detecting faking
  9. Biodiversity-multifunctionality relationships depend on identity and number of measured functions
  10. Development of a simulative approach in order to estimate the impact of smart services on a production system
  11. Image compression based on periodic principal components
  12. Predicting recurrent chat contact in a psychological intervention for the youth using natural language processing
  13. Efficacy of a Web-Based Intervention With Mobile Phone Support in Treating Depressive Symptoms in Adults With Type 1 and Type 2 Diabetes
  14. Transcending Methodological Nationalism through a Transversal Method?
  15. QSPR Using MOLGEN-QSPR: The challenge of fluoroalkane boiling points
  16. Likelihood-based panel cointegration test in the presence of a linear time trend and cross-sectional dependence
  17. Computergestütztes Repetitorium der Elementarmathematik
  18. Integrative inspection methodology for enhanced PCB remanufacturing using artificial intelligence
  19. Note on the Lingen case
  20. Emotional reactivity and interoceptive sensitivity
  21. Perceptron and SVM learning with generalized cost models
  22. Sicht von oben