Work

Adaptive Robust Stable Tracking Control of Two-Axis Coupled Electromechanical Actuation System Based on Friction Compensation

Year: 2025

Type: article

Abstract: The two-axis coupled electromechanical actuation system (TCEAS) is widely utilized in multiple industrial fields, but its tracking performance and stability are severely hampered by complex nonlinear friction, parameter uncertainties, and strong coupling effects. To address these issues, this paper proposes an adaptive robust stable tracking control (ARSTC) method with friction compensation. First, the friction characteristic of TCEAS is analyzed and a continuously differentiable friction moment function is introduced to accurately describe the nonlinear friction phenomenon. Then, a dynamic analysis model for the system considering friction nonlinearity and model uncertainty is established. Furthermore, the developed ARSTC algorithm leverages adaptive control to estimate and compensate unknown friction parameters (enhancing precision) and robust control to suppress disturbances (ensuring stability). Finally, the superiority is jointly verified by stability analysis and extensive comparative numerical test results. This work demonstrates a practical approach for high-precision control of TCEAS, which has important theoretical significance.

Source: Actuators

DOI: 10.3390/act14080396

Authors: Shusen Yuan, Wenxiang Deng, Wenjun Yi, Jianyong Yao, Guolai Yang, Jun Guan

Institutions: Nanjing University of Science and Technology, National Key Laboratory of Transient Physics, Jiangsu University of Science and Technology

Language: English

Topic: Dynamics and Control of Mechanical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,896

Funders: National Natural Science Foundation of China, China Postdoctoral Science Foundation, Government of Jiangsu Province, Natural Science Foundation of Jiangsu Province