Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator

doi:10.1177/1687814018813793

CIOMP OpenIR

	Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator
	Zhang, M. Y.; Zhou, M.; Liu, H.; Zhang, B. Q.; Zhang, Y. L.; Chu, H. R.
	2018
发表期刊	Advances in Mechanical Engineering
ISSN	1687-8140
卷号	10 期号:12 页码:15
摘要	The performance of the electromechanical actuator system is usually affected by the nonlinear friction torque disturbance, model uncertainty, and unknown disturbances. In order to solve this problem, a model-based friction compensation method combined with an observer-based adaptive sliding mode controller for the speed loop of electromechanical actuator system is presented in this article. All the disturbances and model uncertainty of electromechanical actuator system are divided into two parts. One is model-based friction torque disturbance which can be identified by experiments, and the other is the residual disturbance which cannot be identified by experiments. A modified LuGre model is adopted to describe the friction torque disturbance of electromechanical actuator system. An extended state observer is designed to estimate the residual disturbance. An adaptive sliding mode controller is designed to control the system and compensate the friction torque disturbance and the residual disturbance. The stability of the electromechanical actuator system is discussed with Lyapunov stability theory and Barbalat's lemma. Experiments are designed to validate the proposed method. The results demonstrate that the proposed control strategy not only provides better disturbance rejecting ability but also provides better steady state and dynamic performance.
关键词	Electromechanical actuator system adaptive sliding mode controller modified LuGre friction model disturbance rejecting ability extended state observer robust-control systems single design ball Thermodynamics Engineering
DOI	10.1177/1687814018813793
收录类别	SCI
引用统计
文献类型	期刊论文
条目标识符	http://ir.ciomp.ac.cn/handle/181722/60673
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Zhang, M. Y.,Zhou, M.,Liu, H.,et al. Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator[J]. Advances in Mechanical Engineering,2018,10(12):15.
APA	Zhang, M. Y.,Zhou, M.,Liu, H.,Zhang, B. Q.,Zhang, Y. L.,&Chu, H. R..(2018).Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator.Advances in Mechanical Engineering,10(12),15.
MLA	Zhang, M. Y.,et al."Friction compensation and observer-based adaptive sliding mode control of electromechanical actuator".Advances in Mechanical Engineering 10.12(2018):15.

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