Boundary Vibration Constraint Control Design of Motor-Driven Industrial Moving Belt Systems Subject to Actuator Input Saturation

Abstract

This paper investigates the adaptive controller design problem for a class of motor-driven industrial belt systems with boundary vibration constraints and actuator input saturation. The operating equations of the considered system are obtained based on the Eulerian description and Hamilton’s principle, and an auxiliary system is desiigned to compensate for the input saturation effect of the actuator. In a practical engineering context, the system is not only affected by the time-varying boundary disturbances but also the key parameters of the whole closed-loop system are unknown. For this reason, a disturbance observer and the adaptive laws are designed to estimate the disturbances suffered by the system and to compensate for the parameter uncertainty of the system, respectively. With the application of our designed control strategy, the boundary vibration of the system are shown to satisfy the constraint, i.e., the safe operation of the motor-driven industrial belt system is ensured. Finally, the stability and effectiveness of the designed control scheme are demonstrated by examples of numerical simulations.