Abstract
In this paper, we extend perfect tracking control to nonlinear systems, and propose a novel robust perfect tracking control (RPTC) strategy for nonlinear servo tracking systems. The overall control system consists of four parts: a model-based friction compensator, a feedforward perfect tracking controller, an improved internal model controller as the feedback controller, and a disturbance observer for position feedback. First, the friction compensator is introduced to compensate the nonlinear dynamic friction, and the feedforward perfect tracking controller is applied to widen the frequency band. Then, the internal model controller with a differentiator is adopted to yield improved tracking accuracy. Moreover, by utilizing the disturbance observer, the robustness against external disturbances and plant uncertainties is ensured. Finally, high accuracy tracking and ideal robustness are achieved by the RPTC scheme. The stability of the closed loop system is analyzed. Simulation results demonstrate that the proposed RPTC strategy significantly improves the tracking accuracy and enhances the robustness.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
