High-Order Fully Actuated Control Approach for Servo Systems Based on Dynamical Compensator and Extended State Observer

This article investigates the high-performance position control of servo systems based on high-order fully actuated (HOFA) approach with dynamical compensator and extended state observer (ESO). In the proposed control approach, the dynamics of servo systems is formulated via an HOFA model, in which the electrical subsystem is approximated to an inertia system by using the first-order Taylor expansion and the truncated method. Based on the HOFA model, a composite control law is synthesized to achieve the desired tracking error dynamics, and dynamical compensator is applied to offer additional design degrees of freedom for the control performance improvement. To cope with uncertainties and disturbances, a linear ESO is designed for online state estimation and disturbance compensation. The proposed approach can explicitly solve the control gains in an extremely straightforward and simple way. This brings a great convenience for the control system design, analysis and implementation. Experimental results on a servo motor system validate the superior performance of the proposed controller over some of the-state-of-art methods.