Nonlinear robust adaptive precision motion control of motor servo systems with unknown actuator backlash compensation

Shusen Yuan; Wenxiang Deng; Xianglong Liang; Jianyong Yao; Guolai Yang

doi:10.1016/j.isatra.2023.02.002

Nonlinear robust adaptive precision motion control of motor servo systems with unknown actuator backlash compensation

ISA Trans. 2023 Jun:137:349-357. doi: 10.1016/j.isatra.2023.02.002. Epub 2023 Feb 6.

Authors

Shusen Yuan¹, Wenxiang Deng², Xianglong Liang³, Jianyong Yao⁴, Guolai Yang⁵

Affiliations

¹ School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: njustyuan@163.com.
² School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: wxdeng_njust@163.com.
³ School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: xlliang.njust@gmail.com.
⁴ School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: jerryyao.buaa@gmail.com.
⁵ School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China. Electronic address: yyanggl@njust.edu.cn.

PMID: 36774221
DOI: 10.1016/j.isatra.2023.02.002

Abstract

In this article, the problem of high precision motion control for motor servo systems with modeling uncertainties and unknown actuator backlash is addressed. The combination of synthesized adaptive laws and continuous nonlinear robust term handles parameter uncertainties and system disturbances. The adaptive technique updates the unknown parameters of actuator backlash in real time and the backlash inverse function eliminates the backlash effect. Meanwhile, the designed controller without knowing the range of the disturbance upper bound but automatically estimates through the adaptive law, which improves the engineering practicability. Finally, the theoretical analysis proves the perfect asymptotic stability of the presented controller even with unmodeled disturbances and unknown actuator backlash. Extensive comparative experiments reveal the superiority of the presented method.

Keywords: Adaptive control; Backlash inverse; Modeling uncertainties; Motor servo systems; Robust control.