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.
Published Version
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 call