Abstract
AbstractThe permanent magnet spherical actuator (PMSA) offers a wide range of motion and a compact design, as well as good dynamic performance, but its motion control is relatively complicated. To improve the trajectory tracking performance of PMSA under nonlinear disturbance, the time delay estimation control method was proposed. Firstly, the dynamics model of PMSA with nonlinear terms is established. Secondly, in the complex dynamics model of PMSA, time delay estimation is employed to deal with the nonlinear and unknown terms. Then, the stability of the closed-loop system is analyzed. Finally, the proposed control method is used to carry out a simulation experiment on three degrees of freedom PMSA. By comparing the proposed control method to other controllers, the effectiveness and superiority of the proposed control method are demonstrated.KeywordsPMSANonlinear disturbanceTime delay estimationTrajectory tracking
Published Version
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