Dead-Zone ESO Based Sensorless Force/Position Control for Dynamic Contact Systems

Author:

Wang Mingchao1,Yuan Yuan2ORCID,Yuan Huanhuan2

Affiliation:

1. The National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, 127 You Yi West Road, Xi’an 710072, P. R. China

2. The School of Astronautics, Northwestern Polytechnical University, 127 You Yi West Road, Xi’an 710072, P. R. China

Abstract

In this paper, the sensorless force/position control problem is investigated for a general class of dynamic contact systems with both motion sensor noise and unknown kinetic friction by designing a force observer-based controller. Firstly, in order to suppress the effect of motion sensor noise, a dead-zone extended state observer (ESO) is introduced, and the contact force is estimated. Then, based on the force estimate, a controller is designed to realize force/position tracking control, where the parameters of the observer and controller are obtained by a linear matrix inequality (LMI) method. The sufficient conditions are provided to ensure the stability of the closed-loop system in terms of LMIs. Finally, a numerical simulation is carried out to illustrate the applicability and effectiveness of the proposed method.

Funder

NSFC

Publisher

World Scientific Pub Co Pte Lt

Subject

Artificial Intelligence,Mechanical Engineering

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