Open AccessAdaptive robust control with extended disturbance observer for motion control of DC motors
Author(s) -
Yang Yanyu,
Wang Yong,
Jia Ping
Publication year - 2015
Publication title -
electronics letters
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.375
H-Index - 146
ISSN - 1350-911X
DOI - 10.1049/el.2015.1009
Subject(s) - control theory (sociology) , dc motor , robustness (evolution) , motion control , adaptive control , robust control , disturbance (geology) , computer science , control engineering , engineering , control (management) , control system , artificial intelligence , robot , paleontology , biochemistry , chemistry , biology , gene , electrical engineering
This Letter proposes an extended disturbance observer (EDO) based adaptive robust control method for motion control of DC motors. An adaptive part for structured uncertainties, an EDO for unstructured uncertainties and a feedback robust law for global robustness are designed in this method. The theoretical analysis guarantees a prescribed tracking performance under various uncertainties and comparative numerical simulation shows the excellent high‐precision performance of proposed method on DC motor motion control.