High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping
A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accura...
Ausführliche Beschreibung
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| Autor*in: |
Hu, Jian [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2016 |
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| Rechteinformationen: |
Nutzungsrecht: © 2016 Informa UK Limited, trading as Taylor & Francis Group 2016 |
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| Schlagwörter: |
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| Übergeordnetes Werk: |
Enthalten in: International journal of control - London : Taylor & Francis, 1965, 89(2016), 10, Seite 2029-2039 |
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| Übergeordnetes Werk: |
volume:89 ; year:2016 ; number:10 ; pages:2029-2039 |
| Links: |
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| DOI / URN: |
10.1080/00207179.2016.1147604 |
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| Katalog-ID: |
OLC1984001760 |
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| 520 | |a A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. | ||
| 540 | |a Nutzungsrecht: © 2016 Informa UK Limited, trading as Taylor & Francis Group 2016 | ||
| 650 | 4 | |a parameter adaption | |
| 650 | 4 | |a adaptive robust control | |
| 650 | 4 | |a Launching platform | |
| 650 | 4 | |a output feedback | |
| 650 | 4 | |a motion control | |
| 650 | 4 | |a Control systems | |
| 650 | 4 | |a Parameter estimation | |
| 650 | 4 | |a Accuracy | |
| 650 | 4 | |a Robust control | |
| 700 | 1 | |a Qiu, Yang |4 oth | |
| 700 | 1 | |a Liu, Long |4 oth | |
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10.1080/00207179.2016.1147604 doi PQ20161201 (DE-627)OLC1984001760 (DE-599)GBVOLC1984001760 (PRQ)c1551-cda2c857b8383f6dafc1541164d4e11c74258ce9e6f1cf0d22defd2c8d18aa4d0 (KEY)0006630320160000089001002029highorderslidingmodeobserverbasedoutputfeedbackada DE-627 ger DE-627 rakwb eng 620 DNB Hu, Jian verfasserin aut High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. Nutzungsrecht: © 2016 Informa UK Limited, trading as Taylor & Francis Group 2016 parameter adaption adaptive robust control Launching platform output feedback motion control Control systems Parameter estimation Accuracy Robust control Qiu, Yang oth Liu, Long oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 10, Seite 2029-2039 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:10 pages:2029-2039 http://dx.doi.org/10.1080/00207179.2016.1147604 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2016.1147604 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 10 2029-2039 |
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10.1080/00207179.2016.1147604 doi PQ20161201 (DE-627)OLC1984001760 (DE-599)GBVOLC1984001760 (PRQ)c1551-cda2c857b8383f6dafc1541164d4e11c74258ce9e6f1cf0d22defd2c8d18aa4d0 (KEY)0006630320160000089001002029highorderslidingmodeobserverbasedoutputfeedbackada DE-627 ger DE-627 rakwb eng 620 DNB Hu, Jian verfasserin aut High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. Nutzungsrecht: © 2016 Informa UK Limited, trading as Taylor & Francis Group 2016 parameter adaption adaptive robust control Launching platform output feedback motion control Control systems Parameter estimation Accuracy Robust control Qiu, Yang oth Liu, Long oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 10, Seite 2029-2039 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:10 pages:2029-2039 http://dx.doi.org/10.1080/00207179.2016.1147604 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2016.1147604 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 10 2029-2039 |
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10.1080/00207179.2016.1147604 doi PQ20161201 (DE-627)OLC1984001760 (DE-599)GBVOLC1984001760 (PRQ)c1551-cda2c857b8383f6dafc1541164d4e11c74258ce9e6f1cf0d22defd2c8d18aa4d0 (KEY)0006630320160000089001002029highorderslidingmodeobserverbasedoutputfeedbackada DE-627 ger DE-627 rakwb eng 620 DNB Hu, Jian verfasserin aut High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. Nutzungsrecht: © 2016 Informa UK Limited, trading as Taylor & Francis Group 2016 parameter adaption adaptive robust control Launching platform output feedback motion control Control systems Parameter estimation Accuracy Robust control Qiu, Yang oth Liu, Long oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 10, Seite 2029-2039 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:10 pages:2029-2039 http://dx.doi.org/10.1080/00207179.2016.1147604 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2016.1147604 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 10 2029-2039 |
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10.1080/00207179.2016.1147604 doi PQ20161201 (DE-627)OLC1984001760 (DE-599)GBVOLC1984001760 (PRQ)c1551-cda2c857b8383f6dafc1541164d4e11c74258ce9e6f1cf0d22defd2c8d18aa4d0 (KEY)0006630320160000089001002029highorderslidingmodeobserverbasedoutputfeedbackada DE-627 ger DE-627 rakwb eng 620 DNB Hu, Jian verfasserin aut High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. Nutzungsrecht: © 2016 Informa UK Limited, trading as Taylor & Francis Group 2016 parameter adaption adaptive robust control Launching platform output feedback motion control Control systems Parameter estimation Accuracy Robust control Qiu, Yang oth Liu, Long oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 10, Seite 2029-2039 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:10 pages:2029-2039 http://dx.doi.org/10.1080/00207179.2016.1147604 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2016.1147604 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 10 2029-2039 |
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10.1080/00207179.2016.1147604 doi PQ20161201 (DE-627)OLC1984001760 (DE-599)GBVOLC1984001760 (PRQ)c1551-cda2c857b8383f6dafc1541164d4e11c74258ce9e6f1cf0d22defd2c8d18aa4d0 (KEY)0006630320160000089001002029highorderslidingmodeobserverbasedoutputfeedbackada DE-627 ger DE-627 rakwb eng 620 DNB Hu, Jian verfasserin aut High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping 2016 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. Nutzungsrecht: © 2016 Informa UK Limited, trading as Taylor & Francis Group 2016 parameter adaption adaptive robust control Launching platform output feedback motion control Control systems Parameter estimation Accuracy Robust control Qiu, Yang oth Liu, Long oth Enthalten in International journal of control London : Taylor & Francis, 1965 89(2016), 10, Seite 2029-2039 (DE-627)129595780 (DE-600)240693-7 (DE-576)015088804 0020-7179 nnns volume:89 year:2016 number:10 pages:2029-2039 http://dx.doi.org/10.1080/00207179.2016.1147604 Volltext http://www.tandfonline.com/doi/abs/10.1080/00207179.2016.1147604 GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-TEC GBV_ILN_70 GBV_ILN_2020 GBV_ILN_4314 GBV_ILN_4318 GBV_ILN_4700 AR 89 2016 10 2029-2039 |
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Enthalten in International journal of control 89(2016), 10, Seite 2029-2039 volume:89 year:2016 number:10 pages:2029-2039 |
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Enthalten in International journal of control 89(2016), 10, Seite 2029-2039 volume:89 year:2016 number:10 pages:2029-2039 |
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parameter adaption adaptive robust control Launching platform output feedback motion control Control systems Parameter estimation Accuracy Robust control |
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Hu, Jian @@aut@@ Qiu, Yang @@oth@@ Liu, Long @@oth@@ |
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In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. 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Hu, Jian |
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Hu, Jian ddc 620 misc parameter adaption misc adaptive robust control misc Launching platform misc output feedback misc motion control misc Control systems misc Parameter estimation misc Accuracy misc Robust control High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping |
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620 DNB High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping parameter adaption adaptive robust control Launching platform output feedback motion control Control systems Parameter estimation Accuracy Robust control |
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High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping |
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high-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping |
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High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping |
| abstract |
A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. |
| abstractGer |
A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. |
| abstract_unstemmed |
A kind of launching platform driven by two permanent magnet synchronous motor (PMSM) motors which is used to launch kinetic load to hit the target, always faces strong parameter uncertainties and strong external disturbance such as the air current impulsion, which would degrade their tracking accuracy greatly. In this paper, an adaptive robust nonlinear controller is proposed for high-accuracy motion control of the launching platform, in which the adaption law is designed to estimate the unknown coupling coefficients of torque disturbance and feed-forward cancellation technique is used to compensate the coupling torque disturbance and some other constant disturbances. In addition, a nonlinear robust feedback term is designed to inhibit the influence of the parameter estimation error and the other model uncertainty to stabilise the closed-loop system. Considering that some system states are immeasurable due to cost-reduction, volume/weight limitations and structure restriction or heavy measurement noise is usually associated with the measurements, which may also deteriorate the achievable performance of full-state feedback controllers; a high-order sliding-mode observer is used to estimate the unmeasured system states, and it is synthesised with the adaptive robust controller via feed-forward cancellation method. The intermediary virtual control law and the final control law are derived by integrating the backstepping method. Furthermore, the controller theoretically guarantees a prescribed tracking transient performance and final tracking accuracy while achieving asymptotic tracking performance in the presence of parametric uncertainties only, which is very important for high-accuracy tracking control of launching platform. Extensive comparative experimental results are obtained to verify the high performance nature of the proposed control strategy. |
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High-order sliding-mode observer based output feedback adaptive robust control of a launching platform with backstepping |
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