Output feedback control for robust tracking of position trajectories for DC electric motors

摘要

A generalized PI-like output feedback dynamic control scheme with additional integral compensation of the output error is proposed for robust tracking tasks of position reference trajectories for direct current electric motors with speed reduction gear head, using measurements of angular displacement only. The integral compensation is used to improve the robustness property of the controller, in regards to parametric uncertainty and variable load torque, and avoid the application of asymptotic estimation methods of the state vector. A family of Taylor polynomials approximates the perturbation signals, in order to reduce the control design complexity. These signals are compensated by the integral control action directly. Experimental and simulation results describe the effective performance of the control scheme proposed in this paper as an alternative solution to the efficient angular position control problem of direct current electric motors.