Anti-disturbance Tracking Control for a Class of PMSM Driven-Based Flexible Manipulator Systems with Input Saturation and Angular Velocity Constraint

This paper proposes a feasible anti-disturbance constrained control algorithm for class of typical permanent magnet synchronous motor (PMSM) driven-based single-joint flexible manipulator systems with input saturation and angular velocity constraint. Firstly, by actuating surface-mounted PMSM, setting the d-axis current as zero, is converted into normal state space model. Secondly, compared classical harmonic or linear disturbance, exogenous disturbance model configurable parameters associated observer (DO) are continuously introduced to dynamically estimate those unknown irregular disturbance. Moreover, combining convex hull representation saturating suggested adaptive law, an efficient active controller designed ensure stability closed-loop systems. By using optimization technique, not only dynamic tracking rotation position but also constraint can be guaranteed simultaneously. Finally, simulation results three different kinds disturbances showed demonstrate superiority proposed method.