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Nonlinear Servo Motion Control Based on Unknown Input Observer

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Proceedings of 2016 Chinese Intelligent Systems Conference (CISC 2016)

Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 405))

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Abstract

This paper presents an alternative control method based on a new unknown input observer (UIO) for servo motor systems with unknown time-varying nonlinear dynamics and disturbances. By defining auxiliary filtered variables, an invariant manifold is derived and used to design the estimation of unknown dynamics. The new observer has only one scalar to be set, and thus can be easily incorporated into the control design to achieve precise output tracking. The convergence of the proposed estimator is compared with other three well-known schemes. Comparative simulation results show the satisfactory estimation and control performance.

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Acknowledgments

This work is supported by National Natural Science Foundation of China (NSFC) under grant No. 61573174, 61433003.

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Authors and Affiliations

  1. Faculty of Mechanical & Electrical Engineering, Kunming University of Science & Technology, Kunming, 650500, China

    Ligang Wang, Yunpeng Li, Jing Na & Guanbin Gao

  2. College of Information Engineering, Zhejiang University of Technology, Hangzhou, 310023, China

    Qiang Chen

Authors
  1. Ligang Wang
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  2. Yunpeng Li
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  3. Jing Na
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  4. Guanbin Gao
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  5. Qiang Chen
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Corresponding author

Correspondence to Jing Na .

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Editors and Affiliations

  1. Beihang University , Beijing, China

    Yingmin Jia

  2. Beijing University of Posts and Telecommunications, Beijing, China

    Junping Du

  3. University of Science and Technology Beijing, Beijing, China

    Weicun Zhang

  4. Tsinghua University , Beijing, China

    Hongbo Li

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© 2016 Springer Science+Business Media Singapore

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Wang, L., Li, Y., Na, J., Gao, G., Chen, Q. (2016). Nonlinear Servo Motion Control Based on Unknown Input Observer. In: Jia, Y., Du, J., Zhang, W., Li, H. (eds) Proceedings of 2016 Chinese Intelligent Systems Conference. CISC 2016. Lecture Notes in Electrical Engineering, vol 405. Springer, Singapore. https://doi.org/10.1007/978-981-10-2335-4_49

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  • DOI: https://doi.org/10.1007/978-981-10-2335-4_49

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2334-7

  • Online ISBN: 978-981-10-2335-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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