精密转台系统非线性动态自适应控制器设计

Adaptive Controller Design for Precision Turntable System with Nonlinear Dynamic Friction

提出了一种用于精密转台平滑鲁棒自适应控制器。通过基于σ改进方案的自适应律估计得到未知摩擦参数和非线性项的常值上界,并且利用一种平滑预测算法来改进用于估计不可测摩擦状态的双观测器。为了抑制不确定非线性项,加入了无抖振滑模控制项。通过Lyapunov方法证明了系统的位置跟踪误差是一致最终有界的。仿真研究表明了该控制方案的有效性。

A smooth robust adaptive controller is developed to compensate for the nonlinear dynamic friction and uncertain nonlinearities in the precision turntable system. The friction force in the turntable is characterized by the Lugre dynamic friction model with non-uniform parametric variation. The effectiveness of the proposed approach is demonstrated using simulation study.