Abstract
This paper investigates a robust prescribed performance control scheme for motion control system with unknown dead-zone input and impactive disturbance. The unknown dead-zone input is divided into a linear part and a disturb part firstly. A smooth dead-zone inverse is constructed to compensate the influence. Subsequently, a novel error transform function is proposed for the limitation that the former prescribed performance control scheme cannot tolerate the impact disturbance. A robust control scheme with prescribed convergence rate is derived with the help of back-stepping technique and the dead-zone parameters is estimated by a designed adaptive law. Lyapunov function is employed to improve the stability of the system. Moreover, a fast finite-time-converge sliding mode differentiator is introduced to estimate the unavailable states of the motion control system. Finally, a two-link robot arm with unknown dead-zone input and high impact is employed to demonstrate the robustness and effectiveness of the control scheme.
Highlights
Motion control system is a fundamental and significant component for various kinds of vehicles
Zhang et al used robust adaptive iterative learning control to control the spherical actuator with uncertain dynamic parameters and set an experiment to demonstrate the effectiveness of the control scheme [5]
Inspired by the aforementioned consideration, this paper aims at designing a novel error-transform function to fix the limitation of prescribed performance control scheme that cannot tolerant the large impact
Summary
Motion control system is a fundamental and significant component for various kinds of vehicles. M. Wang et al.: Novel Prescribed Performance Controller With Unknown Dead-Zone and Impactive Disturbance the value of the PPF will be a tiny number after a while. Inspired by the aforementioned consideration, this paper aims at designing a novel error-transform function to fix the limitation of prescribed performance control scheme that cannot tolerant the large impact. This paper applies a smooth deadzone-inverse to design a robust controller for motion control system with unknown dead-zone input, large impact and disturbance. The chatting problem of the controller output u can be suppress by applying the smooth dead-zone inverse. Set DI (·) as the smooth dead-zone inverse function, it can be expressed as follows ui. Ei is the error between qi and its desired value qdi
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