ESO-Based Adaptive Robust Control of 3-Axis Winding of Carbon Fiber

Abstract

Structured and unstructured uncertainties always exist in physical servo systems and degrade their tracking accuracy. Meanwhile, there is a phenomenon that the coupling and mutual restraint exist in the axis of winding device. In this paper, we could apply a practical method named extended state observer (ESO) based adaptive robust control (ARC) to high-precision motion control of 3-Axis Winding of Carbon Fiber. The proposed controller accounts for not only the structured uncertainties (i.e., parametric uncertainties) but also the unstructured uncertainties (i.e., nonlinear friction, external disturbances, and/or unmodeled dynamics) and coupling. Adaptive control for the structured uncertainty and ESO for the unstructured uncertainty are designed for compensating themselves respectively and integrated together via a feedforward cancellation technique. The controller is guaranteed by a feedback robust law and theoretically guarantees the performance of prescribed tracking when we are in the face of various uncertainties, which is very important for high-precision control of motion systems. At the same time, the expectation trajectory of the two rotating motors are triggered by the control output of the linear motor to ensure the cooperativity between the motors.