Abstract
In this paper, a novel robust adaptive control law based on Immersion and Invariance (I&I) method for the uncertain linear motor system subjected to external disturbances is proposed to achieve satisfying motion control performance. To deal with the parametric uncertainties in the system, an I&I adaption law with smooth projection is designed to handle the unknown parameters in the system. Different from traditional adaptive control, the presented robust I&I adaptive control additionally introduces a tuning function in adaption law, which shapes the convergence dynamic of the parameter estimation vector. The stringent stability of the closed-loop linear motor system is proved in this paper. Finally, both numerical simulation and experimental results demonstrate that the proposed control law can guarantee prominent transient and steady-state performance of the linear motor system.
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.
