Dynamic Surface Control-based Adaptive Output Feedback Prescribed Performance Control of Motor Systems

doi:10.3901/JME.260508

Abstract

Abstract: Electromechanical servo systems are widely used in industry, aerospace, medical and other fields, which requires not only accurate steady-state accuracy, but also good dynamic performance. However, there are many uncertainties in the electromechanical servo system, and speed and other states are generally not measured by installing sensors due to the limitations of structure and space, so the high-performance requirements of the system are difficult to meet. An adaptive output feedback prescribed performance control method based on dynamic surface control is proposed for the electromechanical position servo system with unmeasurable state and model uncertainty. Neural network and adaptive law are used to estimate the unmodeled dynamics and parametric uncertainties, respectively. Based on their estimates, a state observer and a disturbance observer are intergrated to estimate the unknown state and time-varying disturbance, and then an output feedback controller is designed based on the prescribed performance to ensure that the tracking error is kept within the predefined boundary. At the same time, dynamic surface control technology is introduced into backstepping design to solve the differential explosion problem. The stability of the closed loop system is proved by using Lyapunov theory. Finally, simulation and experimental comparison prove the effectiveness of the proposed algorithm.

Key words: electromechanical servo system, preset performance control, output feedback control, dynamic surface control, model uncertainty

CLC Number:

TP273

XU Zhangbao, REN Jialin, HU Xiaolei, YAO Jianyong. Dynamic Surface Control-based Adaptive Output Feedback Prescribed Performance Control of Motor Systems[J]. Journal of Mechanical Engineering, 2026, 62(10): 414-424,436.

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URL: http://www.cjmenet.com.cn/EN/10.3901/JME.260508

http://www.cjmenet.com.cn/EN/Y2026/V62/I10/414

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