High accuracy tracking control of direct current (DC) motors is concerned in this paper. A continuously differentiable friction model is adopted to account for the friction nonlinearities, which allows more flexible and suitable practical implementation. Since only output signal is available for measurement, an extended state observer (ESO) is designed to provide precise estimates of the unmeasurable state together with external disturbances, which facilitates the controller design without any transformations. The global stability of the controller is ensured via a certain robust feedback law. The resulting controller theoretically guarantees a prescribed tracking performance in general, while achieving asymptotic output tracking in the absence of time-varying disturbances, which is very important for high accuracy control of motion systems. Comparative experimental results are obtained to verify the high-performance nature of the proposed control strategy.
Skip Nav Destination
Article navigation
April 2015
Research-Article
Output Feedback Robust Control of Direct Current Motors With Nonlinear Friction Compensation and Disturbance Rejection
Jianyong Yao,
Jianyong Yao
1
School of Mechanical Engineering,
e-mail: jerryyao.buaa@gmail.com
Nanjing University of Science and Technology
,Nanjing 210094
, China
e-mail: jerryyao.buaa@gmail.com
1Corresponding author.
Search for other works by this author on:
Zongxia Jiao,
Zongxia Jiao
School of Automation Science
and Electrical Engineering
and the Science and Technology
on Aircraft Control Laboratory,
e-mail: zxjiao@buaa.edu.cn
and Electrical Engineering
and the Science and Technology
on Aircraft Control Laboratory,
Beihang University
,Beijing 100191
, China
e-mail: zxjiao@buaa.edu.cn
Search for other works by this author on:
Dawei Ma
Dawei Ma
School of Mechanical Engineering,
e-mail: ma-dawei@mail.njust.edu.cn
Nanjing University of Science and Technology
,Nanjing 210094
, China
e-mail: ma-dawei@mail.njust.edu.cn
Search for other works by this author on:
Jianyong Yao
School of Mechanical Engineering,
e-mail: jerryyao.buaa@gmail.com
Nanjing University of Science and Technology
,Nanjing 210094
, China
e-mail: jerryyao.buaa@gmail.com
Zongxia Jiao
School of Automation Science
and Electrical Engineering
and the Science and Technology
on Aircraft Control Laboratory,
e-mail: zxjiao@buaa.edu.cn
and Electrical Engineering
and the Science and Technology
on Aircraft Control Laboratory,
Beihang University
,Beijing 100191
, China
e-mail: zxjiao@buaa.edu.cn
Dawei Ma
School of Mechanical Engineering,
e-mail: ma-dawei@mail.njust.edu.cn
Nanjing University of Science and Technology
,Nanjing 210094
, China
e-mail: ma-dawei@mail.njust.edu.cn
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 4, 2013; final manuscript received September 30, 2014; published online November 7, 2014. Assoc. Editor: YangQuan Chen.
J. Dyn. Sys., Meas., Control. Apr 2015, 137(4): 041004 (9 pages)
Published Online: April 1, 2015
Article history
Received:
September 4, 2013
Revision Received:
September 30, 2014
Citation
Yao, J., Jiao, Z., and Ma, D. (April 1, 2015). "Output Feedback Robust Control of Direct Current Motors With Nonlinear Friction Compensation and Disturbance Rejection." ASME. J. Dyn. Sys., Meas., Control. April 2015; 137(4): 041004. https://doi.org/10.1115/1.4028743
Download citation file:
Get Email Alerts
Vibration Suppression Based on Improved Adaptive Optimal Arbitrary-Time-Delay Input Shaping
J. Dyn. Sys., Meas., Control (May 2025)
Robust Fault Detection for Unmanned Aerial Vehicles Subject to Denial-of-Service Attacks
J. Dyn. Sys., Meas., Control
Vibration Suppression and Trajectory Tracking with Nonlinear Model Predictive Control for UAM Aircraft
J. Dyn. Sys., Meas., Control
Learning battery model parameter dynamics from data with recursive Gaussian process regression
J. Dyn. Sys., Meas., Control
Related Articles
Output Feedback Adaptive Robust Control of Uncertain Linear Systems
With Disturbances
J. Dyn. Sys., Meas., Control (December,2006)
Nonlinear Robust Output Stabilization for Mechanical Systems Based on Luenberger-Like Controller/Observer
J. Dyn. Sys., Meas., Control (August,2017)
Distributed Robust Control of Compliant Framed Wheeled Modular Mobile Robots
J. Dyn. Sys., Meas., Control (September,2006)
Robust Control of a 2D Acoustic Enclosure
J. Vib. Acoust (July,2003)
Related Proceedings Papers
Related Chapters
Fault-Tolerant Control of Sensors and Actuators Applied to Wind Energy Systems
Electrical and Mechanical Fault Diagnosis in Wind Energy Conversion Systems
QP Based Encoder Feedback Control
Robot Manipulator Redundancy Resolution
Characteristics Measurement and FPGA Controller Design for an Air Motor and Electric Motor Hybrid Power System
International Conference on Instrumentation, Measurement, Circuits and Systems (ICIMCS 2011)