Skip to main content
SpringerLink
Log in

Super twisting observer based repetitive control for aperiodic disturbance rejection in a brushless DC servo motor

  • Regular Papers
  • Control Theory and Applications
  • Published:
International Journal of Control, Automation and Systems Aims and scope Submit manuscript

Abstract

This paper presents a super twisting observer based repetitive control (STORC), which can not only track the periodic signals precisely, but also reject aperiodic disturbances. Firstly, a stable repetitive control (RC) is designed based on the small gain theorem to track the periodic references, and compensate the periodic disturbances. Secondly, a robust exact differentiator is employed to estimate the velocity required by the disturbance observer. Finally, the super twisting observer (STO) is constructed to reject aperiodic disturbances, and input unmatched periodic disturbances with reduced chattering. The stability analysis is conducted and the design conditions are derived for a stable system. The proposed algorithm is simulated in MATLAB Simulink, and verified on a brushless DC servo motor in real time to demonstrate the effectiveness. The comparison studies highlight the advantages of the proposed algorithm.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. T. Inoue, M. Nakano, and S. Iwai, “High accuracy control of a proton synchrotron magnet power supply,” Proc. of 8th World Congr. IFAC, Kyoto, pp. 3137–3142, August 1981. [click]

    Google Scholar 

  2. B. A. Francis and W. M. Wonham, “The internal model principle for linear multivariable regulators,” Appl. Math. Optim., vol. 2, pp. 170–194, June 1975. [click]

    Article  MathSciNet  MATH  Google Scholar 

  3. S. Hara, Y. Yamamoto, T. Omata, and M. Nakano, “Repetitive control system: A new type servo system for periodic exogenous signals,” IEEE Trans. Autom. Control, vol. 33, pp. 659–666, July 1988.

    Article  MathSciNet  MATH  Google Scholar 

  4. S. Chen, Y. M. Lai, S. C. Tan, and C. K. Tse, “Sliding mode repetitive control of PWM voltage source inverter,” Proc. of the 7th Int. Conf. Power Electron. and Drive Systems, Bangkok, pp. 1069–1073, November 2007.

    Google Scholar 

  5. Z. Cao and G. Ledwich, “Tracking variable periodic signals with fixed sampling rate-feedforward control,” Proc. of the IEEE Int. Conf. on Ind. Technology, Hong Kong, pp. 142–145, December 2005.

    Google Scholar 

  6. E. Kurniawan, Z. Cao, and Z. Man, “Adaptive repetitive control of system subject to periodic disturbance with timevarying frequency,” Proc. of the 1st Int. Conf. on Informatics and Computational Intelligence, Bandung, pp. 185–190, December 2011.

    Google Scholar 

  7. Z. Cao and S. S. Narasimhulu, “Digital PLL-based adaptive repetitive control,” Proc. of 1st Int. Symposium on Systems and Control in Aerospace and Astronautics, Harbin, pp. 1468–1471, January 2006.

    Google Scholar 

  8. E. Kurniawan, Z. Cao, and Z. Man, “Robust design of repetitive control system,” Proc. of 37th Annual Conf. on IEEE Ind. Electron., Melbourne, pp. 722–727, November 2011.

    Google Scholar 

  9. R. Chuei, Z. Cao, M. Mitrevska, and Z. Man, “Sliding mode based repetitive control for improved reference tracking,” Proc. of the 6th Int. Conf. Modelling, Identification & Control, Melbourne, pp. 166–171, December 2014.

    Google Scholar 

  10. M. A. Rahman, A. A. Mamun, and K. Yao, “Discrete time adaptive controller for suppression of resonance in hard disk drive servo system,” International Journal of Control, Automation and Systems, vol. 13, pp. 1161–1172, 2015. [click]

    Article  Google Scholar 

  11. P. Le Dinh, C. Junho, and K. Sungchul, “External force estimation using joint torque sensors for a robot manipulator,” Proc. of IEEE International Conference on Robotics and Automation (ICRA), pp. 4507–4512, 2012.

    Google Scholar 

  12. R. J. Wai and W. K. Liu, “Nonlinear decoupled control for linear induction motor servo-drive using the sliding-mode technique,” IEE Proceedings -Control Theory and Applications, vol. 148, pp. 217–231, 2001. [click]

    Article  Google Scholar 

  13. L. Zhou and J. She, “Aperiodic disturbance rejection in a modified repetitive-control system,” International Journal of Control, Automation and Systems, vol. 14, pp. 883–892, 2016. [click]

    Article  Google Scholar 

  14. A. H. M. Sayem, Z. Cao, and Z. Man, “Performance enhancement of ADRC using RC for load frequency control of power system,” Proc. of IEEE 8th Conference on Industrial Electronics and Applications (ICIEA), Melbourne, pp. 433–438, June 2013.

    Google Scholar 

  15. A. H. M. Sayem, Z. Cao, Z. Man, and F. Chaohong, “Performance comparison of SO and ESO based RC,” Proc. of IEEE Conference on Systems, Process & Control (ICSPC), Kuala Lumpur, pp. 121–124, December 2013.

    Chapter  Google Scholar 

  16. A. Chalanga, S. Kamal, and B. Bandyopadhyay, “A new algorithm for continuous sliding mode control with implementation to industrial emulator setup,” IEEE/ASME Trans. on Mechatronics, vol. 20, pp. 2194–2204, 2015.

    Article  Google Scholar 

  17. M. Wu, B. Xu, W. Cao, and J. She, “Aperiodic disturbance rejection in repetitive-control systems,” IEEE Trans. on Control Systems Technology, vol. 22, pp. 1044–1051, May 2014.

    Article  Google Scholar 

  18. Y. Li, S. Tong, and T. Li, “Observer-based adaptive fuzzy tracking control of MIMO stochastic nonlinear systems with unknown control directions and unknown dead zones,” IEEE Trans. on Fuzzy Systems, vol. 23, no. 4, pp. 1228–1241, August 2015.

    Article  Google Scholar 

  19. Y. Li, S. Tong, and T. Li, “Adaptive fuzzy output feedback control for a single-link flexible robot manipulator driven DC motor via backstepping,” Nonlinear Analysis: Real World Applications, vol. 14, pp. 483–494, February 2013.

    Article  MathSciNet  MATH  Google Scholar 

  20. Y. Li, S. Tong, and T. Li, “Composite adaptive fuzzy output feedback control design for uncertain nonlinear strictfeedback systems with input saturation,” IEEE Trans. on Cybernetics, vol. 45, no. 10, pp. 2299–2308, October 2015.

    Article  Google Scholar 

  21. A. Levant, “Robust exact differentiation via sliding mode technique,” Automatica, vol. 34, pp. 379–384, March 1998. [click]

    Article  MathSciNet  MATH  Google Scholar 

  22. V. Utkin, Sliding Mode Control in Electro-Mechanical Systems, Taylor & Francis, 2009.

    Book  Google Scholar 

  23. J. A. Moreno and M. Osorio, “Strict Lyapunov functions for the super-twisting algorithm,” IEEE Trans. Autom. Control, vol. 57, pp. 1035–1040, April 2012. [click]

    Article  MathSciNet  MATH  Google Scholar 

  24. Manual For Model 220 Industrial Emulator/Servo Trainer, Educational Control Products, 1995.

  25. H. Li, P. Shi, and D. Yao, “Adaptive sliding mode control of Markov jump nonlinear systems with actuator faults,” IEEE Trans. on Automatic Control, vol. 62, pp. 1933–1939, April 2017.

    Article  MathSciNet  MATH  Google Scholar 

  26. H. Li, C. Wu, X. Jing, and L. Wu, “Fuzzy tracking control for nonlinear networked systems,” IEEE Transactions on Cybernetics, vol. 47, pp. 2020–2031, August 2017.

    Article  Google Scholar 

  27. H. Li, Z. Chen, L. Wu, and H. K. Lam, “Event-triggered control for nonlinear systems under unreliable communication links,” IEEE Trans. on Fuzzy Systems, vol. 25, pp. 813–824, August 2017.

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Faculty of Science, Engineering and Technology, Swinburne University of Technology, Hawthorn, VIC, 3122, Australia

    Raymond Chuei, Zhenwei Cao & Zhihong Man

Authors
  1. Raymond Chuei
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Zhenwei Cao
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Zhihong Man
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Raymond Chuei.

Additional information

Recommended by Associate Editor Do Wan Kim under the direction of Editor Yoshito Ohta.

Raymond Chuei received his B.Eng. degree in electrical and electronic engineering from The University of Western Australia, Perth, Australia in 2009. He is currently undertaking an Ph.D. degree in the Faculty of Science, Engineering, and Technology at Swinburne University of Technology, Melbourne, Australia. His research interests are in repetitive control, super-twisting control, and sliding mode control.

Zhenwei Cao received her B.S. and M.E. degrees from the Southeast University, Nanjing, China in 1985 and 1988, respectively, and her Ph.D. degree from the University of Newcastle, Newcastle, Australia, in 2001, all in electrical engineering. She is currently an Associate Professor in the Faculty of Science, Engineering and Technology, Swinburne University of Technology, Melbourne, Australia. Her current research interests include robotics, mechatronics, control and automation.

Zhihong Man received his B.Eng degree from Shanghai Jiaotong University, China, in 1982, his M.Sc degree from Chinese Academy of Sciences, China, in 1987, and his Ph.D. degree from University of Melbourne, Australia, in 1994. After working in several Universities as Research Engineer, Lecturer and Senior Lecturer, Zhihong is currently the Professor of Robotics and Mechatronics in the Faculty of Science, Engineering and Technology at Swinburne University of Technology, Melbourne, Australia. His research interests are in nonlinear control, signal processing, robotics, neural networks, fuzzy systems, engineering optimization, diagnosis of industrial systems, vehicle dynamics and control.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Chuei, R., Cao, Z. & Man, Z. Super twisting observer based repetitive control for aperiodic disturbance rejection in a brushless DC servo motor. Int. J. Control Autom. Syst. 15, 2063–2071 (2017). https://doi.org/10.1007/s12555-016-0415-x

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12555-016-0415-x

Keywords

Search

Navigation