NDLI: Simple saturated relay non-linear PD control for uncertain motion systems with friction and actuator constraint

Content Provider	IET Digital Library
Author	Zheng, Chunhong Su, Yuxin Mercorelli, Paolo
Abstract	This study addresses the problem of robust fast and high-precision positioning of uncertain one-degree-of-freedom mechanical systems with friction and actuator constraint. The proposed control is constructed within the framework of saturated proportional–derivative (PD) plus relay action. Global asymptotic positioning stability is proven by Lyapunov's direct method with Barbalat's lemma. The appealing features of the proposed control are that it is fairly easy to construct with simple intuitive structure and the absence of modelling parameter in the control law formulation, and thus it is ready to implement for practical applications. An additive feature is that the proposed control embeds the PD action within one saturation function and hence it omits the elaborating embedment of the control gains within the requested constraint. Another feature is that the proposed approach can be explicitly upper bounded a priori and thus, it has the ability to protect the actuator from saturation completely and to ensure global asymptotic stability featuring fast transient and high steady-state positioning. Numerical simulations and real experimental results demonstrate the effectiveness and improved performance of the proposed approach.
Starting Page	1920
Ending Page	1928
Page Count	9
ISSN	17518644
Volume Number	13
e-ISSN	17518652
Issue Number	Issue 12, Aug (2019)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/13/12
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2018.6441
Journal	IET Control Theory & Applications
Publisher Date	2019-06-07
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Actuating And Final Control Device Actuator Actuators Additive Feature Asymptotic Stability Barbalat's Lemma Control Gain Control Law Formulation Control System Analysis Control System Synthesis Friction Friction Constraint Global Asymptotic Positioning Stability Global Asymptotic Stability High-precision Positioning Lyapunov Direct Method Lyapunov Method Modelling Parameter Nonlinear Control System One-degree-of-freedom Mechanical System PD Action PD Control Position Control Relay Nonlinear PD Control Robust Control Robust Positioning Saturated Proportional–derivative Saturated Relay Non-linear PD Control Saturation Function Spatial Variables Control Stability in Control Theory Steady-state Positioning Synthesis Method Uncertain Motion System Uncertain System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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