Robust tracking and vibration suppression for nonlinear two-inertia system via modified dynamic surface control with error constraint

NEUROCOMPUTING

卷:203

Article

Wang, Shubo¹  Ren, Xuemei¹  Na, Jing²  Gao, Xuehui¹ 

[1] Beijing Inst Technol, Sch Automat, Beijing 100081, Peoples R China

[2] Kunming Univ Sci & Technol, Fac Mech & Elect Engn, Kunming 650500, Yunnan, Peoples R China

关键词: Dynamic surface control;    Friction compensation;    Two-inertia system;    Vibration suppression;    Prescribed performance constraint;   

DOI  :  10.1016/j.neucom.2016.03.040

来源: Elsevier

【 摘 要 】

This paper proposes a modified dynamic surface control (DSC) for speed tracking and torsional vibration suppression for two-inertia systems with nonlinear friction. The proposed controller contains two parts: tracking controller and friction compensator. The tracking controller is designed by modifying dynamic surface control, which replaces the traditional first-order filter with a high-gain tracking differentiator (HGTD). Meanwhile, an improved prescribed performance function with error constraint is also presented and incorporated into DSC design. As for the friction compensator, the nonlinear nonsmooth friction is parameterized and then compensated using echo state neural networks (ESNs). The state observer with friction compensation is used to estimate unmeasurable load speed and torsional torque. The effectiveness of proposed control scheme is verified by simulation and experiment results. (C) 2016 Elsevier B.V. All rights reserved.

【 授权许可】

Free