Work

Multi-Axis Servo System Control Design Considering Low-Speed Friction Dynamics

Year: 2024

Type: article

Abstract: This paper introduces an extended state observer-based command filtered backstepping control method to improve the tracking accuracy and synchronization performance of multi-motor-driving servo systems under the condition of low-speed nonlinear friction dynamics. Firstly, a novel and effective four-motor synchronization scheme is designed and various groups of synchronization feedback signals are introduced to achieve accurate synchronization performance among motors. Then, the observer is designed to estimate the friction torque. And the controller is developed via command filtered backstepping technique to avoid additional computational complexity, making the control signals suitable for practical application. Finally, the stability of the closed-loop system is analyzed, and the tracking and synchronization performance is verified through designed experiments.

Source: Mathematics

DOI: 10.3390/math12223475

Authors: Huimin Liu, Rui Wang

Institutions: Qilu University of Technology, Shandong Academy of Sciences, Qufu Normal University

Language: English

Topic: Adaptive Control of Nonlinear Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,955

Funders: Natural Science Foundation of Shandong Province, Shandong Academy of Sciences, Qilu University of Technology