TY - GEN
T1 - High-order Fully Actuated Control Approach for Flexible Servo Systems Using Dynamical Compensator
AU - Li, Ping
AU - Duan, Guangren
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This paper proposes a high-order fully actuated (HOFA) control approach for flexible servo (FS) systems using dynamical compensator. The FS system belongs to a class of underactuated mechanical systems. Its dynamics can be described by a classical two-mass system (TMS) model, which is transformed into an HOFA model by variable elimination. With the full-Actuation feature, the control law can be directly obtained in an extremely simple and straightforward way for a desired closed-loop system. Moreover, dynamical compensator is designed to attenuate the effect of unknown disturbances such that the control accuracy can be further improved. The system stability is analyzed in the presence of uncertainties. Comparative experiments are carried out on an FS system driven by PMSM to verify the effectiveness of the proposed approach.
AB - This paper proposes a high-order fully actuated (HOFA) control approach for flexible servo (FS) systems using dynamical compensator. The FS system belongs to a class of underactuated mechanical systems. Its dynamics can be described by a classical two-mass system (TMS) model, which is transformed into an HOFA model by variable elimination. With the full-Actuation feature, the control law can be directly obtained in an extremely simple and straightforward way for a desired closed-loop system. Moreover, dynamical compensator is designed to attenuate the effect of unknown disturbances such that the control accuracy can be further improved. The system stability is analyzed in the presence of uncertainties. Comparative experiments are carried out on an FS system driven by PMSM to verify the effectiveness of the proposed approach.
KW - Dynamic compensator
KW - flexible servo (FS) systems
KW - high-order fully actuated (HOFA) approach
KW - two-mass system (TMS) model
UR - https://www.scopus.com/pages/publications/85173618341
U2 - 10.1109/CFASTA57821.2023.10243342
DO - 10.1109/CFASTA57821.2023.10243342
M3 - 会议稿件
AN - SCOPUS:85173618341
T3 - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
SP - 862
EP - 867
BT - Proceedings of the 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd Conference on Fully Actuated System Theory and Applications, CFASTA 2023
Y2 - 14 July 2023 through 16 July 2023
ER -