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ע⣺ՓڡA|WW( ȻƌW) 2010,31(3):50-52,56l
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(A|WԄӻϵ,Ϻ 200237)

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ЈD̖: T P273. 2 ¾̖: 10063080( 2010) 03043305

Robust Adaptive Control Design for DC Servo System with Friction and Dead-Zone Compensation

YU M in ,  L I Shaoj un,, DU Hong-bin
( Dept. of Automation, East China Univ. of Science & Technology , Shanghai 200237 , China)

Abstract :Both the dead-zone and friction are often unknown in DC servo systems. Besides, the error caused by speed measurement often exists. All of these above factors may severely affect the system 's performance. Hence, this paper presents a robust adaptive controller to cope w ith these problems. The proposed algorithm is rigorously proved by using Lyapunov theory . Another feature in this paper is that a kind of differentiator is utilized to estimate the speed such that the erro r caused by speed measurement can be reduced. The simulation results sho w that the proposed m ethod can impr ove sy stem's speed estimation, and it is effective for promoting the efficacy of friction and dead-zone compensation.
Key words: robust adaptive control; differ entiator; dead-zone; friction

 

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