文章基本信息

标题：Servo Velocity Control using a P+ADOB controller ⁎
本地全文：下载
作者：Luis Luna ; Erick Asiain ; Rubén Garrido 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：1300-1305
DOI：10.1016/j.ifacol.2020.12.1860
语种：English
出版社：Elsevier
摘要：AbstractThis paper describes preliminary results on a Proportional plus Adaptive Disturbance Observer (P+ADOB) controller applied to velocity regulation tasks in a servo system. Adaptation law is obtained to estimate the servo system input gain, which is subsequently employed in the design of a Disturbance Observer. Compared with previous approaches, this feature relaxes the assumption on exact knowledge on the input gain, and only upper and lower bounds on this term are assumed known. A stability proof assuming constant disturbances allows concluding that the estimate of the input gain is bounded, and the velocity tracking error converges to zero. Real-time experiments illustrate the performance of the proposed controller.
关键词：KeywordsADRCDOBadaptive controlservo systemsreal-time control