Nonlinear servo motion control based on unknown input observer

Ligang Wang; Yunpeng Li; Jing Na; Guanbin Gao; Qiang Chen

doi:10.1007/978-981-10-2335-4_49

Nonlinear servo motion control based on unknown input observer

Ligang Wang, Yunpeng Li, Jing Na^*, Guanbin Gao, Qiang Chen

^*Corresponding author for this work

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

2 Citations (Scopus)

372 Downloads (Pure)

Abstract

This paper presents an alternative control method based on a new unknown input observer (UIO) for servo motor systems with unknown time-varying nonlinear dynamics and disturbances. By defining auxiliary filtered variables, an invariant manifold is derived and used to design the estimation of unknown dynamics. The new observer has only one scalar to be set, and thus can be easily incorporated into the control design to achieve precise output tracking. The convergence of the proposed estimator is compared with other three well-known schemes. Comparative simulation results show the satisfactory estimation and control performance.

Original language	English
Title of host publication	Proceedings of 2016 Chinese Intelligent Systems Conference
Publisher	Springer Verlag
Pages	541-550
Number of pages	10
Volume	II
ISBN (Electronic)	9789811023354
ISBN (Print)	9789811023347
DOIs	https://doi.org/10.1007/978-981-10-2335-4_49
Publication status	Published - 2016

Publication series

Name	Lecture Notes in Electrical Engineering
Publisher	Springer
Volume	405
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Keywords

Disturbance observer
Nonlinear systems
Servo motion control
Unknown input observer

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10.1007/978-981-10-2335-4_49

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title = "Nonlinear servo motion control based on unknown input observer",

abstract = "This paper presents an alternative control method based on a new unknown input observer (UIO) for servo motor systems with unknown time-varying nonlinear dynamics and disturbances. By defining auxiliary filtered variables, an invariant manifold is derived and used to design the estimation of unknown dynamics. The new observer has only one scalar to be set, and thus can be easily incorporated into the control design to achieve precise output tracking. The convergence of the proposed estimator is compared with other three well-known schemes. Comparative simulation results show the satisfactory estimation and control performance.",

keywords = "Disturbance observer, Nonlinear systems, Servo motion control, Unknown input observer",

author = "Ligang Wang and Yunpeng Li and Jing Na and Guanbin Gao and Qiang Chen",

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language = "English",

isbn = "9789811023347",

volume = "II",

series = "Lecture Notes in Electrical Engineering",

publisher = "Springer Verlag",

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booktitle = "Proceedings of 2016 Chinese Intelligent Systems Conference",

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Nonlinear servo motion control based on unknown input observer. / Wang, Ligang; Li, Yunpeng; Na, Jing et al.
Proceedings of 2016 Chinese Intelligent Systems Conference. Vol. II Springer Verlag, 2016. p. 541-550 (Lecture Notes in Electrical Engineering; Vol. 405).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Nonlinear servo motion control based on unknown input observer

AU - Wang, Ligang

AU - Li, Yunpeng

AU - Na, Jing

AU - Gao, Guanbin

AU - Chen, Qiang

PY - 2016

Y1 - 2016

N2 - This paper presents an alternative control method based on a new unknown input observer (UIO) for servo motor systems with unknown time-varying nonlinear dynamics and disturbances. By defining auxiliary filtered variables, an invariant manifold is derived and used to design the estimation of unknown dynamics. The new observer has only one scalar to be set, and thus can be easily incorporated into the control design to achieve precise output tracking. The convergence of the proposed estimator is compared with other three well-known schemes. Comparative simulation results show the satisfactory estimation and control performance.

AB - This paper presents an alternative control method based on a new unknown input observer (UIO) for servo motor systems with unknown time-varying nonlinear dynamics and disturbances. By defining auxiliary filtered variables, an invariant manifold is derived and used to design the estimation of unknown dynamics. The new observer has only one scalar to be set, and thus can be easily incorporated into the control design to achieve precise output tracking. The convergence of the proposed estimator is compared with other three well-known schemes. Comparative simulation results show the satisfactory estimation and control performance.

KW - Disturbance observer

KW - Nonlinear systems

KW - Servo motion control

KW - Unknown input observer

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U2 - 10.1007/978-981-10-2335-4_49

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M3 - Conference Contribution (Conference Proceeding)

AN - SCOPUS:84990028986

SN - 9789811023347

VL - II

T3 - Lecture Notes in Electrical Engineering

SP - 541

EP - 550

BT - Proceedings of 2016 Chinese Intelligent Systems Conference

PB - Springer Verlag

ER -

Nonlinear servo motion control based on unknown input observer

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