Abstract
This paper focuses on high-accuracy motion control for electromechanical servo systems with time-varying parameter estimation. A robust indirect adaptive controller based on a nonlinear X-swapping technique is proposed to achieve the online estimation of the time-varying parameters. The time-varying parametric uncertainties can be well compensated via the adaptive feedforward cancellation technique, and the residual model uncertainties are suppressed by a nonlinear robust control law. The Lyapunov-based stability analysis illustrates that the proposed method obtains a prescribed estimating result and an excellent asymptotic tracking performance. Extensive experimental results are acquired to affirm the applicability of the proposed control strategy.
Sign-in/Register to access full text options 
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.
