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Zbl 1119.93028
Hong, Yun; Yao, Bin
A globally stable saturated desired compensation adaptive robust control for linear motor systems with comparative experiments. (English)
[J] Automatica 43, No. 10, 1840-1848 (2007). ISSN 0005-1098

Summary: The recently proposed saturated adaptive robust controller is integrated with desired trajectory compensation to achieve global stability with much improved tracking performance. The algorithm is tested on a linear motor drive system which has limited control effort and is subject to parametric uncertainties, unmodeled nonlinearities, and external disturbances. Global stability is achieved by employing back-stepping design with bounded (virtual) control input in each step. A guaranteed transient performance and final tracking accuracy is achieved by incorporating the well-developed adaptive robust controller with effective parameter identifier. Signal noise that affects the adaptation function is alleviated by replacing the noisy velocity signal with the cleaner position feedback. Furthermore, asymptotic output tracking can be achieved when only parametric uncertainties are present.

MSC 2000:: *93B35 Sensitivity (robustness) of control systems
93C10 Nonlinear control systems
93C40 Adaptive control systems

Keywords: Input saturation; adaptive control; robust control; linear motors; motion control; nonlinear systems

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