| Autor: |
Mingming Wang, Yuan Chai, Jianjun Luo |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
IEEE Access, Vol 8, Pp 17160-17169 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2169-3536 |
| DOI: |
10.1109/ACCESS.2020.2967796 |
| Popis: |
This paper investigates a robust prescribed performance control scheme for motion control system with unknown dead-zone input and impactive disturbance. The unknown dead-zone input is divided into a linear part and a disturb part firstly. A smooth dead-zone inverse is constructed to compensate the influence. Subsequently, a novel error transform function is proposed for the limitation that the former prescribed performance control scheme cannot tolerate the impact disturbance. A robust control scheme with prescribed convergence rate is derived with the help of back-stepping technique and the dead-zone parameters is estimated by a designed adaptive law. Lyapunov function is employed to improve the stability of the system. Moreover, a fast finite-time-converge sliding mode differentiator is introduced to estimate the unavailable states of the motion control system. Finally, a two-link robot arm with unknown dead-zone input and high impact is employed to demonstrate the robustness and effectiveness of the control scheme. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
|
