Robust tracking control of mechanical servo systems with inertial parameters varying in large range
惯性参数大范围变化机械伺服系统鲁棒跟踪控制

When implementing different tasks,mechanical servo systems must adapt to various working loads with different weight or inertia,which may lead to remarkable variation of servo system's inertial parameters.In such cases,motion control methods at present,such as PD control and disturbance observer-based robust control,exhibit instability or tracking performance declination.A novel nonlinear control scheme is proposed to deal with the above problems in known variation range of inertial parameters.The sliding mode technique is used for servo-system to achieve robust stability and guarantee transient response,and the boundary layer control is also adopted to avoid chattering introduced by control switching.The servo-system's global stability is then proved by using Lyapunov's direct method,and the transient performance is analyzed.Computer simulation results developed for a DC motor servo-system show the effectiveness of the proposed method.