NDLI: RISE-Based Precision Motion Control of DC Motors With Continuous Friction Compensation

Content Provider	IEEE Xplore Digital Library
Author	Jianyong Yao Zongxia Jiao Dawei Ma
Copyright Year	1982
Abstract	Continuous friction compensation along with other modeling uncertainties is concerned in this paper, to result in a continuous control input, which is more suitable for controller implementation. To accomplish this control task, a practical method, named as robust integral of the sign of the error controller, is synthesized with a continuous differentiable friction model for high-accuracy motion control of a dc motor. To reduce the noise sensitivity and further improve the tracking accuracy, a desired compensation technique is employed in the proposed controller, in which the model compensation term depends on the reference trajectory only, and its global stability is guaranteed by a proper robust feedback law. Furthermore, the proposed controller theoretically guarantees an asymptotic output tracking performance even in the presence of modeling uncertainties, which is very important for high-accuracy control of motion systems. Comparative experimental results are obtained for the motion control of a dc motor drive system to verify the high-performance nature of the proposed control strategy.
Sponsorship	IEEE Industrial Electronics Society
Starting Page	7067
Ending Page	7075
Page Count	9
File Size	982155
File Format	PDF
ISSN	02780046
Volume Number	61
Issue Number	12
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Friction Robustness Uncertainty DC motors Motion control Stability analysis uncertainties Continuous friction compensation dc motor desired compensation nonlinear robust control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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