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Adaptive robust control for servo mechanisms with partially unknown states via dynamic surface control approach / Zhang, Guozhu in IEEE Transactions on control systems technology, Vol. 18 N° 3 (Mai 2010) 

Public ISBD [article]  in IEEE 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  control  (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  control  (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