Integral predictor based prescribed performance control for multi-motor driving servo systems |
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| Institution: | 1. School of Science, Shenyang Jianzhu University, Shenyang, 110168, China;2. School of Mechanical Engineering, Shenyang Jianzhu University, Shenyang, 110168, China;3. Systems Engineering Institute, South China University of Technology, Guangzhou, 510640, China;1. School of Internet Finance and Information Engineering, Guangdong University of Finance, Guangzhou,510521, China;2. School of Automation, Guangdong University of Technology, Guangzhou, 510006, China;3. Guangdong-HongKong-Macao Joint Laboratory for Smart Discrete Manufacturing, Guangzhou, 510006, China;4. School of Computer Science and Engineering, South China University of Technology, Guangzhou, 510006, China;1. State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150001, People''s Republic of China;2. School of Automation, Northwestern Polytechnical University, Xi’an 710129, People''s Republic of China;3. Research Institute of Intelligent Control and Systems, School of Astronautics, Harbin Institute of Technology, Harbin 150001, People’s Republic of China;4. Department of Mechanical Engineering University of California, Berkeley, Berkeley CA 94720, USA |
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| Abstract: | An integral predictor-based dynamic surface control scheme is developed with prescribed performance (IPPDSC) for multi-motor driving servo systems in this paper. By employing a novel finite-time performance function and an improved error transformation, the tracking error is limited within a prescribed zone in any preset time without having the overrun and the singularity problem. Furthermore, integral state predictors are designed to update neural network weights to handle high-frequency oscillations under large adaptive gains. Different from the existing approaches, an integral term of prediction error is introduced to eliminate the steady-state error and avoid chattering. In addition, a synchronization controller based on the mean relative coupling structure is proposed to solve the coupling problem between synchronization and tracking. Finally, simulation and experimental results are presented to demonstrate the effectiveness of the designed approach. |
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