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For the uncertainties which exist objectively in the robot system impact on the motion performance of joint robot system, an active disturbance rejection control method of joint robot system is proposed based on state observation and compensation. The uncertainties of the system are introduced by constructing extended state in the method, and uncertainties and state variables are estimated by an Extended...
In order to maximize capture wind power, wind turbine generator needs to tune wind turbine speed according wind. It is difficult to obtain the better dynamic quality and robustness by conventional controller based on mathematic model due to uncertainty of wind speed and wind direction. An integral variable structure fuzzy adaptive controller is proposed for variable speed wind power system with uncertain...
We develop a Linear Matrix Inequality (LMI) tool for analyzing the stability and performance of adaptive controllers that employ sigma-modification. The formulation involves recasting the error dynamics composed of the tracking error and the weight estimator error into a linear parameter varying form. We show how stability, convergence rate, domain of attraction, and the transient and steady state...
Motion control systems have found their application in various industry products. Common issues encountered when designing this type of systems are nonlinearities and uncertainties (e.g., unknown parameters, unmodeled dynamics, and disturbances). In this paper, we study controller design for a class of motion systems with rotary components. The systems are assumed to have unknown parameters which...
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