A discrete-time robust composite nonlinear control approach to motor position regulation
- Resource Type
- Conference
- Authors
- Chen, Yi; Zhao, Jiqiang; Cheng, Guoyang
- Source
- 2015 34th Chinese Control Conference (CCC) Control Conference (CCC), 2015 34th Chinese. :4331-4336 Jul, 2015
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Servomotors
Robustness
Observers
Torque
Target tracking
Permanent magnet motors
Closed loop systems
Motion control
Servo systems
Nonlinear control
Disturbance rejection
Observer
- Language
- ISSN
- 1934-1768
This paper presents a discrete-time robust nonlinear control scheme to achieve fast and accurate set-point tracking for servo systems subject to actuator saturation and disturbances. The control scheme is built on the framework of composite nonlinear feedback (CNF) control, which implements a dynamically-damped closed-loop system to achieve a fast response with low overshoot. A disturbance-rejection mechanism is also included, which adopts an extended state observer to estimate the state variables and disturbance simultaneously for feedback and compensation. Practical application in the position servo control of a permanent magnet synchronous motor is given to demonstrate the effectiveness of the proposed control scheme.