[article] 
inIEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 723-731

Titre :	Adaptive robust control for servo mechanisms with partially unknown states via dynamic surface control approach
Type de document :	texte imprimé
Auteurs :	Zhang, Guozhu, Auteur ; Chen, Jie, Auteur ; Zhiping Lee, Auteur
Année de publication :	2011
Article en page(s) :	pp. 723-731
Note générale :	Génie Aérospatial
Langues :	Anglais (eng)
Mots-clés :	Adaptive robust control (ARC) Dynamic surface (DSC) Servo mechanism State observer Two-axis turntable
Index. décimale :	629.1
Résumé :	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.
DEWEY :	629.1
ISSN :	1063-6536
En ligne :	http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208210

[article] Adaptive robust control for servo mechanisms with partially unknown states via dynamic surface control approach [texte imprimé] / Zhang, Guozhu, Auteur ; Chen, Jie, Auteur ; Zhiping Lee, Auteur . - 2011 . - pp. 723-731.
Génie Aérospatial
Langues : Anglais (eng)
in IEEE Transactions on control systems technology > Vol. 18 N° 3 (Mai 2010) . - pp. 723-731

Mots-clés :	Adaptive robust control (ARC) Dynamic surface (DSC) Servo mechanism State observer Two-axis turntable
Index. décimale :	629.1
Résumé :	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.
DEWEY :	629.1
ISSN :	1063-6536
En ligne :	http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5208210