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Titre :
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Adaptive robust control for servo mechanisms with partially unknown states via dynamic surface control approach (2011)
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Auteurs :
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Zhang, Guozhu, Auteur ;
Chen, Jie, Auteur ;
Zhiping Lee, Auteur
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Type de document :
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Article : texte imprimé
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Dans :
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IEEE Transactions on control systems technology (Vol. 18 N° 3, Mai 2010)
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Article en page(s) :
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pp. 723-731
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Note générale :
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Génie Aérospatial
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Langues :
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Anglais
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Index. décimale :
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629.1
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Tags :
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Adaptive robust control (ARC) Dynamic surface (DSC) Servo mechanism State observer Two-axis turntable
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Résumé :
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In order to achieve high performance control for servo mechanisms with electrical dynamics and unmeasurable states, an observer-based adaptive robust controller (ARC) is developed via dynamic surface control (DSC) technique. To represent electrical dynamics, a third-order model is used to describe the servo mechanism. However, the third-order model brings some difficulties to observer construction and recursive controller design. To solve this problem, we first transform the model into a particular form suitable for observer design, and then construct a parameterized observer to estimate the unmeasurable states. The state estimation is based on the output and its derivatives, which can be acquired by an output differential observer. Subsequently, an observer-based ARC can be developed through DSC technique, with which the problem of "explosion of complexity" caused by backstepping method in the traditional ARC design can be overcome. A stability analysis is given, showing that our control law can guarantee uniformly ultimate boundedness of the solution of the closed-loop system, and make the tracking error arbitrarily small. This scheme is implemented on a precision two-axis turntable. Experimental results are presented to illustrate the effectiveness and the achievable control performance of the proposed scheme.
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DEWEY :
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629.1
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ISSN :
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1063-6536
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En ligne :
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http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208210
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