Anti-Disturbance Tracking Control for a Class of PMSM Driven-Based Flexible Manipulator Systems With Input Saturation and Angular Velocity Constraint

This paper proposes a feasible anti-disturbance constrained control algorithm for a class of typical permanent magnet synchronous motor (PMSM) driven-based single-joint flexible manipulator systems with input saturation and angular velocity constraint. Firstly, by actuating with a surface-mounted PMSM, and setting the d-axis current as zero, the single-joint flexible manipulator is converted into a normal state space model. Secondly, compared with classical harmonic or linear disturbance, the exogenous disturbance model with configurable parameters and the associated disturbance observer (DO) are continuously introduced to dynamically estimate those unknown irregular disturbance. Moreover, by combining the convex hull representation of the saturating input with the suggested adaptive law, an efficient adaptive active anti-disturbance controller is designed to ensure the stability of closed-loop manipulator systems. By using convex optimization technique, not only the dynamic tracking for the rotation position but also the angular velocity constraint can be guaranteed simultaneously. Finally, simulation results for three different kinds of disturbances are showed to demonstrate the superiority of the proposed method.