Adaptive Disturbance Rejection Motion Control of Direct-Drive Systems with Adjustable Damping Ratio Based on Zeta-Backstepping

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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Bibliographic Details
Main Authors: Zhongjin Zhang, Zhitai Liu, Weiyang Lin, Wei Cheng
Format: Article
Language:English
Published: MDPI AG 2024-12-01
Series:Biomimetics
Subjects:
direct-drive system
parameter adaptive
integral sliding mode observer
damping ratios
backstepping method
cogging force
Online Access:https://www.mdpi.com/2313-7673/9/12/780
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