NDLI: Extended state observer based output feedback asymptotic tracking control of DC motors

Content Provider	IEEE Xplore Digital Library
Author	Deng Wenxiang Luo Chengyang Yao Jianyong Ma Dawei Le Guigao
Copyright Year	2015
Description	Author affiliation: Sch. of Mech. Eng., Nanjing Univ. of Sci. & Technol., Nanjing, China (Deng Wenxiang; Luo Chengyang; Yao Jianyong; Ma Dawei; Le Guigao)
Abstract	Modeling uncertainties and measurement noise in physical servo systems severely deteriorate their tracking performance. In this paper, an output feedback control strategy which integrates a discontinuous robust control with extended state observer via feed-forward cancellation technique is proposed for high precision motion control of a dc motor. The designed extended state observer can estimate the unmeasured system state and the modeling uncertainties simultaneously. Since the vast majority of the modeling uncertainties can be estimated by the extended state observer and then compensated in the controller design, the task of robust control can be greatly alleviated which prevents the discontinuous output feedback controller from chattering. In addition, the proposed controller theoretically achieves an asymptotic output tracking performance even in the presence of modeling uncertainties, which is rather significant for high precision control of motion systems. Extensive comparative simulation results are provided to verify the high performance nature of the proposed control strategy.
Starting Page	4262
Ending Page	4267
File Size	383557
Page Count	6
File Format	PDF
ISBN	9789881563897
ISSN	19341768
DOI	10.1109/ChiCC.2015.7260298
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Technical Committee on Control Theory, Chinese Association of Automation
Subject Keyword	Uncertainty Tracking extended state observer Observers DC motors output feedback Robust control Friction motion control robust control dc motor uncertainties Output feedback
Content Type	Text
Resource Type	Article

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