期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 69, 期 3, 页码 3007-3016出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2021.3065621
关键词
Friction; Uncertainty; PD control; Nonlinear dynamical systems; Upper bound; Torque; Stability criteria; Dynamic friction; Pendubot system; robust swing-up and balance control; signal compensation method; tracking error
资金
- National Natural Science Foundation of China [61991400, 61991404, U1813201, 61673095, 61973077]
- 2020 Science and Technology Major Project of Liaoning Province [2020JH1/10100008]
- Japan Society for the Promotion of Science [C-18K04212]
- Fundamental Research Funds for the Central Universities [300102258306]
This article proposes a novel robust swing-up and balance control method using data-driven compensation signals for the Pendubot system. The method effectively eliminates the influence of dynamic friction, backlash, and modeling uncertainty on the system and improves production rate, accuracy, and cost.
This article proposes a novel robust swing-up and balance control method using data-driven compensation signals for the Pendubot system, which is underactuated and subject to dynamic friction, backlash, and modeling uncertainty. The method involves three major developments. First, the uncertainty of the system is described by a previous sampled unknown nonlinear term and its changing rate. Compensation signals are then designed to eliminate the influence of the previous sampled unknown nonlinear term and its changing rate on the outputs of the controlled plant. Second, based on the Lyapunov stability theory, a robust swing-up control method is proposed. Third, in order to eliminate the limit cycle phenomenon caused by the uncertainty near the unstable equilibrium point, a proportional-derivative balance controller based on compensation signals is proposed. The stability and tracking error analysis show that the compensation signals can effectively eliminate the influence of dynamic friction, backlash, and modeling uncertainty on the system. Experimental results verify the effectiveness of the proposed method by showing significant improvements in production rate, accuracy, and cost.
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