Abstract
A nonlinear continuous predictive control method based on sliding mode is proposed to realize the synchronous control of multi-motor driving servo systems. The continuous-time recursive least-squares algorithm with forgetting factor is developed to estimate the disturbance and the unknown parameters, which compensates the influence of noise and guarantees that the parameter estimation converges to the true values. The continuous prediction control law is improved by using the sliding mode variable structure scheme, which ensures the rapid synchronization of the motors and deals with the problem of model uncertainty. The simulation results are presented to demonstrate the effectiveness of the method.
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Acknowledgments
This work is supported by National Natural Science Foundation of China (Nos. 61433003, 61273150 and 61321002).
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Hu, S., Ren, X., Zhao, W. (2018). Synchronous Control of Multi-motor Driving Servo Systems. In: Jia, Y., Du, J., Zhang, W. (eds) Proceedings of 2017 Chinese Intelligent Systems Conference. CISC 2017. Lecture Notes in Electrical Engineering, vol 459. Springer, Singapore. https://doi.org/10.1007/978-981-10-6496-8_56
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DOI: https://doi.org/10.1007/978-981-10-6496-8_56
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