Indirect Adaptive Robust Control of DC Motors with Finite-Time Disturbance Observer

Journal of Shanghai Jiaotong University ›› 2015, Vol. 49 ›› Issue (09): 1281-1287.

• Mechanical instrumentation engineering • Previous Articles Next Articles

Indirect Adaptive Robust Control of DC Motors with Finite-Time Disturbance Observer

XU Zhangbao,MA Dawei,YAO Jianyong,DONG Zhenle,YANG Guichao

（School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, China）

Received:2014-10-20 Online:2015-09-30 Published:2015-09-30

Abstract

Abstract:

Abstract： An indirect adaptive robust control with finite-time disturbance observer (FTDO) was proposed for DC motor servo systems with parametric uncertainties and uncertain nonlinearities. Indirect adaptive control for the parameter uncertainties and FTDO for the uncertain nonlinearities were integrated for compensation. The global uniform stability of the closed-loop system was proved by Lyapunov analysis. The simulation results reveal that the method proposed in this paper can accurately estimate the system parameters and disturbance, compared with the traditional control method, and hence it possesses the advantages of strong antidisturbance capability, good robustness and rapid response speed.

Key words: indirect adaptive robust control, DC motor, fine-time disturbance observer (FTDO), parameter uncertainties, uncertain nonlinearity

CLC Number:

TH 113

XU Zhangbao,MA Dawei,YAO Jianyong,DONG Zhenle,YANG Guichao. Indirect Adaptive Robust Control of DC Motors with Finite-Time Disturbance Observer[J]. Journal of Shanghai Jiaotong University, 2015, 49(09): 1281-1287.

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Indirect Adaptive Robust Control of DC Motors with Finite-Time Disturbance Observer

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