By Topic

Repetitive adaptive control based on sliding filter observer in servo turntable

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Minggang Gan ; Sch. of Autom., Beijing Inst. of Technol., Beijing, China ; Huixia Ma

A repetitive adaptive compensation scheme based on observer is proposed to improve low speed position tracking precision for the nonlinear dynamic friction and periodic force ripples in a DC motor turntable system. Based on LuGre friction model, the adaptive component is used to compensate the dynamic friction, while the repetitive component is used to restrain force ripple. At the same time, dual sliding filter is adopted to approximate the parameter estimation error of the observed state so that the parameters update rate can be driven by tracking error signal as well as estimating error signal to improve the position tracking performance. The system asymptotic stability is guaranteed by Lyapunov function. Simulation results verify contrastively the effectiveness and superiority of the repetitive adaptive compensation scheme.

Published in:

Intelligent Control and Automation (WCICA), 2012 10th World Congress on

Date of Conference:

6-8 July 2012