PRECISION MOTION CONTROL OF MOTOR DRIVE SYSTEMS WITH ACTUATOR NONLINEARITIES AND EXTERNAL DISTURBANCES

摘要

This paper investigates a robust control scheme for motor drive systems subject to actuator nonlinearities and external disturbances. For this purpose, two controllers which are based on variable structure control and adaptive robust control are proposed, respectively. Both two controllers can cope with a wide range of actuator nonlinearities and bounded external disturbances. High positioning accuracy can be ensured, for the stability of the closed-loop system is proved rigorously. The proposed control scheme is preferable for its strong robustness, simple structure, and reduced computation complexity. Experimental results are presented to illustrate the effectiveness and the achievable control performance of the proposed scheme.