High-order Fully Actuated Control Approach for Flexible Servo Systems Using Dynamical Compensator

Ping Li; Guangren Duan

10.1109/CFASTA57821.2023.10243342

2023-10-26

2023 2nd Conference on Fully Actuated System Theory and Applications (CFASTA)

979-8-3503-3217-9

2023 2nd Conference on Fully Actuated System Theory and Applications (CFASTA)

862-867

14-16 July 2023

Qingdao, China

This paper proposes a high-order fully actuated (HOFA) control approach for flexible servo (FS) systems using dynamical compensator. The FS system belongs to a class of underactuated mechanical systems. Its dynamics can be described by a classical two-mass system (TMS) model, which is transformed into an HOFA model by variable elimination. With the full-actuation feature, the control law can be directly obtained in an extremely simple and straightforward way for a desired closed-loop system. Moreover, dynamical compensator is designed to attenuate the effect of unknown disturbances such that the control accuracy can be further improved. The system stability is analyzed in the presence of uncertainties. Comparative experiments are carried out on an FS system driven by PMSM to verify the effectiveness of the proposed approach.

Dynamic Compensator Flexible Servo (FS) Systems High-order Fully Actuated (HOFA) Approach Two-mass System (TMS) Model

第一

CPCI-S ; EI

WOS:001071052200149

20234214880872

System Stability ; Uncertainty Analysis

Probability Theory:922.1 ; Systems Science:961

IEEE

Shenzhen Key Laboratory of Control Theory and Intelligent Systems, Southern University of Science and Technology, Shenzhen, China

Ping Li,Guangren Duan. High-order Fully Actuated Control Approach for Flexible Servo Systems Using Dynamical Compensator[C],2023:862-867.