Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping
Direct-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties and disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios to en...
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MDPI AG
2024-12-01
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| Series: | Biomimetics |
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| Online Access: | https://www.mdpi.com/2313-7673/9/12/780 |
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| author | Zhongjin Zhang Zhitai Liu Weiyang Lin Wei Cheng |
| author_facet | Zhongjin Zhang Zhitai Liu Weiyang Lin Wei Cheng |
| author_sort | Zhongjin Zhang |
| collection | DOAJ |
| description | Direct-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties and disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios to enhance system robustness and precision. An iron-core permanent magnet linear synchronous motor (PMLSM) was employed as the experimental platform for the development of a dynamic model that incorporates compensation for friction and cogging forces. To address model parameter uncertainties, an indirect parameter adaptation strategy based on a recursive least squares algorithm was introduced. It updates parameters based on the system state instead of output error, ensuring robust parameter convergence. An integral sliding mode observer (ISMO) was constructed to estimate and compensate for residual uncertainties, achieving finite-time state estimation. The proposed Zeta-backstepping controller enables adjustable damping ratios through parameterized control laws, offering flexibility in achieving desired dynamic performance. System stability and bounded tracking performance were validated via a second-order Lyapunov function analysis. Experimental results on a real PMLSM platform demonstrated that, while achieving adjustable damping ratio dynamic characteristics, there is a significant improvement in tracking accuracy and disturbance suppression. This underscores the scheme’s potential for advancing precision control in biomimetic robotics and other direct-drive system applications. |
| format | Article |
| id | doaj-art-ebda7074b08b423db71442ef8b51c33b |
| institution | Kabale University |
| issn | 2313-7673 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Biomimetics |
| spelling | doaj-art-ebda7074b08b423db71442ef8b51c33b2024-12-27T14:13:32ZengMDPI AGBiomimetics2313-76732024-12-0191278010.3390/biomimetics9120780Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-BacksteppingZhongjin Zhang0Zhitai Liu1Weiyang Lin2Wei Cheng3Research Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, ChinaResearch Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, ChinaResearch Institute of Intelligent Control and Systems, Harbin Institute of Technology, Harbin 150001, ChinaDevol Advanced Automation, Inc., Shenzhen 518101, ChinaDirect-drive servo systems are extensively applied in biomimetic robotics and other bionic applications, but their performance is susceptible to uncertainties and disturbances. This paper proposes an adaptive disturbance rejection Zeta-backstepping control scheme with adjustable damping ratios to enhance system robustness and precision. An iron-core permanent magnet linear synchronous motor (PMLSM) was employed as the experimental platform for the development of a dynamic model that incorporates compensation for friction and cogging forces. To address model parameter uncertainties, an indirect parameter adaptation strategy based on a recursive least squares algorithm was introduced. It updates parameters based on the system state instead of output error, ensuring robust parameter convergence. An integral sliding mode observer (ISMO) was constructed to estimate and compensate for residual uncertainties, achieving finite-time state estimation. The proposed Zeta-backstepping controller enables adjustable damping ratios through parameterized control laws, offering flexibility in achieving desired dynamic performance. System stability and bounded tracking performance were validated via a second-order Lyapunov function analysis. Experimental results on a real PMLSM platform demonstrated that, while achieving adjustable damping ratio dynamic characteristics, there is a significant improvement in tracking accuracy and disturbance suppression. This underscores the scheme’s potential for advancing precision control in biomimetic robotics and other direct-drive system applications.https://www.mdpi.com/2313-7673/9/12/780direct-drive systemparameter adaptiveintegral sliding mode observerdamping ratiosbackstepping methodcogging force |
| spellingShingle | Zhongjin Zhang Zhitai Liu Weiyang Lin Wei Cheng Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping Biomimetics direct-drive system parameter adaptive integral sliding mode observer damping ratios backstepping method cogging force |
| title | Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping |
| title_full | Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping |
| title_fullStr | Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping |
| title_full_unstemmed | Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping |
| title_short | Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping |
| title_sort | adaptive disturbance rejection motion control of direct drive systems with adjustable damping ratio based on zeta backstepping |
| topic | direct-drive system parameter adaptive integral sliding mode observer damping ratios backstepping method cogging force |
| url | https://www.mdpi.com/2313-7673/9/12/780 |
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