Sliding-Mode Active Disturbance Rejection Control for Electromagnetic Driven Compliant Micro-Positioning Platform
نویسندگان
چکیده
At the field of nanometer positioning and machining, high-precision tracking is a key technology micro-positioning platform which driven by voice coil motor. To improve accuracy response speed, sliding-mode active disturbance rejection control proposed. The mathematical model system established, in perturbation spring-damping force are set as unknown terms, an extended state observer used to estimate compensate for terms. robustness system, equivalent term constructed replace PD conventional rejection. Further, stability proved Lyapunov theory, compared with controller, effectiveness proposed strategy verified simulation.
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1Dept. of Electrical, Computer and Biomedical Engineering, University of Pavia, 27100 Pavia, Italy 2Dept. of Robotics and Mechatronics, Nazarbayev University, 010000 Astana, Kazakhstan 3Institute of Mechanical Engineering, Federal Institute of Technology (EPFL), 1015 Lausanne, Switzerland 4Civil Engineering and Architecture Department, University of Pavia, 27100 Pavia, Italy 5Automatic Control ...
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ژورنال
عنوان ژورنال: Applied sciences
سال: 2023
ISSN: ['2076-3417']
DOI: https://doi.org/10.3390/app13031309