Affiliation:
1. Facultad de Ingeniería, CONICET and UNLPam, General Pico, Argentina
2. Instituto de Automática, UNSJ, San Juan, Argentina
Abstract
This work proposes a deterministic robust controller to improve tracking performance for a linear motor, taking into account the electrical dynamics imposed by a commercial current controller. The design is split in two parts by means of the backstepping technique, in which the first part corresponds to a typical deterministic robust controller, neglecting the electrical dynamics. In the second part, a second-order electrical dynamics is considered using a particular state transformation. There, the proposed control law is composed of a term to compensate the known part of the model and a robust control term to impose a bound on the effect of uncertainties on tracking error. Stability and boundedness results for the complete controller are given. To this effect, a general result on boundedness and stability of nonlinear systems with conditionally bounded state variables is derived first. Finally, experimental results for the complete controller show an improvement on tracking error of up to 31.7% when compared with the results from the typical controller that neglects the electrical dynamics.
Funder
Agencia Nacional de Promoción Científica y Tecnológica
Consejo Nacional de Investigaciones Científicas y Técnicas
Universidad Nacional de La Pampa
Subject
Mechanical Engineering,Control and Systems Engineering
Cited by
3 articles.
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1. Application of switched-dynamics friction models in feedback control;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;2022-12-28
2. Modified integral action with time-varying forgetting function for tracking control;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;2019-10-22
3. Force ripple compensation of the directly-driven linear motors via iterative tuning feed-forward controller;Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering;2019-02-07