Data-Driven Model-Free Adaptive Control for Motion Control Systems with Saturation Constraints

In actual motion control systems, saturation constraints are generally encountered, restricting the tracking performance seriously. This paper aims at devising an anti-windup scheme for motion control systems controlled by full form dynamic linearization based model-free adaptive control (FFDL-MFAC). The proposed anti-windup scheme includes a designed saturation identifier and a modified control algorithm. With the proposed hysteresis-deadband characteristic modules, the identifier exhibits robust tolerance on signal noise. For the modified control algorithm, the cumulative term of error will be cut off by the output of the identifier when the actuator falls saturated, supporting exiting saturation constraint once reaches. Besides, the performance and the BIBO stability of the system controlled by the proposed scheme are substantiated. Finally, numerical simulations are presented to demonstrate the superiority of the proposed scheme, even in the presence of signal noise and disturbances.