Hybrid adaptive compensation control scheme for high-precision servo system

• Published in: Transactions of Tianjin University Vol. 19; no. 3; pp. 217 - 224
• Main Authors: Hu, Hongjie, Wang, Yuanzhe, Sun, Guowei
• Format: Journal Article
• Language: English
• Published: Heidelberg Tianjin University 01.06.2013; Science and Technology on Aircraft Control Laboratory, Beihang University, Beijing 100191, China; School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China
• Subjects: Engineering; Humanities and Social Sciences; Mechanical Engineering; multidisciplinary; Science; LuGre model; Lyapunov stability; fuzzy system; adaptive control; friction observer; servo system
• ISSN: 1006-4982; 1995-8196
• DOI: 10.1007/s12209-013-1929-4

In this paper, a hybrid adaptive compensation control scheme is proposed to compensate the friction occurrence and other nonlinear disturbance factors that exist in the high-precision servo system. An adaptive compensation controller with a dual-observer structure is designed, while the LuGre dynamic friction model with non-uniform parametric uncertainties characterizes the friction torque. Considering the influence of the periodic disturbance torque and parametric uncertainties, fuzzy systems and a robust term are employed. In this way, the whole system can be treated as a simple linear model after being compensated, then the proportional-derivative (PD) control law is applied to enhancing the control performance. On the basis of Lyapunov stability theory, the global stability and the asymptotic convergence of the tracking error are proved. Numerical simulations demonstrate that the proposed scheme has potentials to restrain the impact of disturbance and improving the tracking performance.