Robust Adaptive Asymptotic Tracking Control of Voice Coil Motor Based Direct Drive Valve

Focus on the direct drive valve based on voice coil motor system (DDV-VCM), this article applies a novel control scheme where a desired compensation adaptive controller and a robust integral of the sign of the error (RISE) feedback are synthesized. This control strategy is dedicated to improving tracking control of the system with due consideration of the electrical dynamics and various model uncertainties including parametric uncertainties as well as unknown nonparametric disturbances. Firstly, the nonlinear physical model of the DDVVCM is established and its third-order integrator chain state-space equation is derived. Then an adaptive feedforward compensation based on desired trajectory is designed for parametric uncertainties and a RISE robust feedback term is employed to suppress the unmodeled perturbations. The developed control methodology theoretically ensures asymptotic tracking performance regardless of various uncertainties via Lyapunov-based analysis. Extensive simulation results indicate the established controller can obtain better motion tracking performance.