Research Papers

Output Feedback Robust Control of Direct Current Motors With Nonlinear Friction Compensation and Disturbance Rejection

[+] Author and Article Information
Jianyong Yao

School of Mechanical Engineering,
Nanjing University of Science and Technology,
Nanjing 210094, China
e-mail: jerryyao.buaa@gmail.com

Zongxia Jiao

School of Automation Science
and Electrical Engineering
and the Science and Technology
on Aircraft Control Laboratory,
Beihang University,
Beijing 100191, China
e-mail: zxjiao@buaa.edu.cn

Dawei Ma

School of Mechanical Engineering,
Nanjing University of Science and Technology,
Nanjing 210094, China
e-mail: ma-dawei@mail.njust.edu.cn

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 4, 2013; final manuscript received September 30, 2014; published online November 7, 2014. Assoc. Editor: YangQuan Chen.

J. Dyn. Sys., Meas., Control 137(4), 041004 (Apr 01, 2015) (9 pages) Paper No: DS-13-1341; doi: 10.1115/1.4028743 History: Received September 04, 2013; Revised September 30, 2014

High accuracy tracking control of direct current (DC) motors is concerned in this paper. A continuously differentiable friction model is adopted to account for the friction nonlinearities, which allows more flexible and suitable practical implementation. Since only output signal is available for measurement, an extended state observer (ESO) is designed to provide precise estimates of the unmeasurable state together with external disturbances, which facilitates the controller design without any transformations. The global stability of the controller is ensured via a certain robust feedback law. The resulting controller theoretically guarantees a prescribed tracking performance in general, while achieving asymptotic output tracking in the absence of time-varying disturbances, which is very important for high accuracy control of motion systems. Comparative experimental results are obtained to verify the high-performance nature of the proposed control strategy.

Copyright © 2015 by ASME
Your Session has timed out. Please sign back in to continue.


Tao, G., and Lewis, F. L., 2001, Adaptive Control of Nonsmooth Dynamic Systems, Springer-Verlag, New York.
Chen, Z., Yao, B., and Wang, Q., 2013, “Adaptive Robust Precision Motion Control of Linear Motors with Integrated Compensation of Nonlinearities and Bearing Flexible Modes,” IEEE Trans. Ind. Inf., 9(2), pp. 965–973. [CrossRef]
Yao, J., Yang, G., Jiao, Z., and Ma, D., 2013, “Adaptive Robust Motion Control of Direct-Drive DC Motors With Continuous Friction Compensation,” Abstr. Appl. Anal., 2013, p. 837548. [CrossRef]
Bittencourt, A. C., and Gunnarsson, S., 2012, “Static Friction in a Robot Joint-Modeling and Identification of Load and Temperature Effects,” ASME J. Dyn. Syst. Meas. Control, 134(5), p. 051013. [CrossRef]
Ruderman, M., Ruderman, A., and Bertram, T., 2013, “Observer-Based Compensation of Additive Periodic Torque Disturbances in Permanent Magnet Motors,” IEEE Trans. Ind. Inf., 9(2), pp. 1130–1138. [CrossRef]
Eun, Y., Gross, E. M., Kabamba, P. T., Meerkov, S. M., Menezes, A. A., and Ossareh, H. R., 2013, “Cyclic Control: Reference Tracking and Disturbance Rejection,” IEEE Trans. Control Syst. Technol., 21(3), pp. 753–764. [CrossRef]
Liu, G., Chen, L., Zhao, W., Jiang, Y., and Qu, L., 2013, “Internal Model Control of Permanent Magnet Synchronous Motor Using Support Vector Machine Generalized Inverse,” IEEE Trans. Ind. Inf., 9(2), pp. 890–898. [CrossRef]
Grabner, H., Amrhein, W., Silber, S., and Gruber, W., 2010, “Nonlinear Feedback Control of a Bearingless Brushless DC Motor,” IEEE/ASME Trans. Mechatron., 15(1), pp. 40–47. [CrossRef]
Sabanovic, A., 2011, “Variable Structure Systems With Sliding Modes in Motion Control-A Survey,” IEEE Trans. Ind. Inf., 7(2), pp. 212–223. [CrossRef]
Scoltock, J., Geyer, T., and Madawala, U. K., 2013, “A Comparison of Model Predictive Control Schemes for MV Induction Motor Drives,” IEEE Trans. Ind. Inf., 9(2), pp. 909–919. [CrossRef]
Alyaqout, S. F., Alyaqout, P. Y., and Ulsoy, A. G., 2011, “Combined Robust Design and Robust Control of an Electric DC Motor,” IEEE/ASME Trans. Mechatron., 16(3), pp. 574–582. [CrossRef]
Li, S., and Gu, H., 2012, “Fuzzy Adaptive Internal Model Control Schemes for PMSM Speed-Regulation System,” IEEE Trans. Ind. Inf., 8(4), pp. 767–779. [CrossRef]
Morawiec, M., 2013, “The Adaptive Backstepping Control of Permanent Magnet Synchronous Motor Supplied by Current Source Inverter,” IEEE Trans. Ind. Inf., 9(2), pp. 1047–1055. [CrossRef]
Xu, L., and Yao, B., 2001, “Adaptive Robust Precision Motion Control of Linear Motors With Negligible Electrical Dynamics: Theory and Experiments,” IEEE/ASME Trans. Mechatron., 6(4), pp. 444–452. [CrossRef]
Yao, B., Hu, C., Lu, L., and Wang, Q., 2011, “Adaptive Robust Precision Motion Control of a High-Speed Industrial Gantry With Cogging Force Compensations,” IEEE Trans. Control Syst. Technol., 19(5), pp. 1149–1159. [CrossRef]
Han, J., 2009, “From PID to Active Disturbance Rejection Control,” IEEE Trans. Ind. Electron., 56(3), pp. 900–906. [CrossRef]
Rigatos, G. G., 2009, “Adaptive Fuzzy Control of DC Motors Using State and Output Feedback,” Electr. Power Syst. Res., 79(11), pp. 15790–1592. [CrossRef]
Gong, J., and Yao, B., 2006, “Output Feedback Neural Network Adaptive Robust Control With Anolication to Linear Motor Drive System,” ASME J. Dyn. Syst. Meas. Control, 128(2), pp. 227–235. [CrossRef]
Arreola, R. B., 2004, “Output Feedback Nonlinear Control for a Linear Motor in Suspension Mode,” Automatica, 40(12), pp. 2153–2160. [CrossRef]
Xie, W.-F., 2007, “Sliding-Mode-Observer-Based Adaptive Control for Servo Actuator With Friction,” IEEE Trans. Ind. Electron., 54(3), pp. 1517–1527. [CrossRef]
Yao, B., and Xu, L., 2006, “Output Feedback Adaptive Robust Control of Uncertain Linear Systems With Disturbances,” ASME J. Dyn. Syst. Meas. Control, 128(4), pp. 938–945. [CrossRef]
Xu, L., and Yao, B., 2007, “Output Feedback Adaptive Robust Precision Motion Control of Linear Motors,” Automatica, 37(7), pp. 1029–1039. [CrossRef]
Krstic, M., Kanellakopoulos, I., and Kokotovic, P. V., 1995, Nonlinear and Adaptive Control Design, Wiley, New York.
Armstrong-Helouvry, B., Dupont, P., and Canudas de Wit, C., 1994, “A Survey of Models, Analysis Tools and Compensation Methods for the Control of Machines With Friction,” Automatica, 30(7), pp. 1083–1138. [CrossRef]
Canudas de Wit, C., Olsson, H., Astrom, K. J., and Lischinsky, P., 1995, “A New Model for Control of Systems With Friction,” IEEE Trans. Autom. Control, 40(3), pp. 419–425. [CrossRef]
Han, J., 2008, Active Disturbance Rejection Control Technique - the Technique for Estimating and Compensating the Uncertainties, National Defense Industry Press Beijing, China (in Chinese).
Zheng, Q., Dong, L., Lee, D. H., and Gao, Z., 2009, “Active Disturbance Rejection Control for MEMS Gyroscopes,” IEEE Trans. Control Syst. Technol., 17(6), pp. 1432–1438. [CrossRef]
Yao, J., Jiao, Z., and Ma, D., 2014, “Adaptive Robust Control of DC Motors with Extended State Observer,” IEEE Trans. Ind. Electron., 61(7), pp. 3630–3637. [CrossRef]
Tang, H., and Li, Y., 2014, “Development and Active Disturbance Rejection Control of a Compliant Micro/Nano-Positioning Piezo-Stage With Dual-Mode,” IEEE Trans. Ind. Electron., 61(3), pp. 1475–1492. [CrossRef]
Sira-Ramirez, H., Gonzalez-Montanez, F., Cortes-Romero, J. A., and Luviano-Juarez, A., 2013, “A Robust Linear Field-Oriented Voltage Control for the Induction Motor: Experimental Results,” IEEE Trans. Ind. Electron., 60(8), pp. 3025–3033. [CrossRef]
Yao, J., Jiao, Z., and Ma, D., 2014, “Extended-State-Observer-Based Output Feedback Nonlinear Robust Control of Hydraulic Systems With Backstepping,” IEEE Trans. Ind. Electron., 61(11), pp. 6285–6293. [CrossRef]
Zheng, Q., Gao, L. Q., and Gao, Z., 2012, “On Validation of Extended State Observer Through Analysis and Experimentation,” ASME J. Dyn. Syst. Meas. Control, 134(2), p. 024505. [CrossRef]
Xing, H.-L., Jeon, J.-H., Park, K. C., and Oh, I.-K., 2013, “Active Disturbance Rejection Control for Precise Position Tracking of Ionic Polymer–Metal Composite Actuators,” IEEE/ASME Trans. Mechatron., 18(1), pp. 86–95. [CrossRef]
Liu, R.-J., Wu, M., Liu, G.-P., She, J., and Thomas, C., 2013, “Active Disturbance Rejection Control Based on an Improved Equivalent-Input-Disturbance Approach,” IEEE/ASME Trans. Mechatron., 18(4), pp. 1410–1413. [CrossRef]
Zheng, Q., Gao, L., and Gao, Z., 2007, “On Stability Analysis of Active Disturbance Rejection Control for Nonlinear Time-Varying Plants With Unknown Dynamics,” Proceedings of the IEEE Conference on Decision and Control, New Orleans, LA, Dec. 12–14, pp. 3501–3506.
Wu, D., and Chen, K., 2013, “Frequency-Domain Analysis of Nonlinear Active Disturbance Rejection Control via the Describing Function Method,” IEEE Trans. Ind. Electron., 60(9), pp. 3906–3914. [CrossRef]
Makkar, C., Dixon, D. W., Sawyer, W. G., and Hu, G., 2005, “A New Continuously Differentiable Friction Model for Control Systems Design,” Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Monterey, CA, Jul. 24–28, pp. 600–605.
Yao, J., Jiao, Z., Ma, D., and Yan, L., 2014, “High-Accuracy Tracking Control of Hydraulic Rotary Actuators With Modeling Uncertainties,” IEEE/ASME Trans. Mechatron., 19(2), pp. 633–641. [CrossRef]
Yao, B., and Tomizuka, M., 1997, “Adaptive Robust Control of SISO Nonlinear Systems in a Semi-Strict Feedback Form,” Automatica, 33(5), pp. 893–900. [CrossRef]
Yao, J., Jiao, Z., and Ma, D., 2014, “RISE-Based Precision Motion Control of DC Motors With Continuous Friction Compensation,” IEEE Trans. Ind. Electron., 61(12), pp. 7067–7075. [CrossRef]


Grahic Jump Location
Fig. 1

The architecture of the positioning motion system

Grahic Jump Location
Fig. 2

Experimental platform of DC motor driven system

Grahic Jump Location
Fig. 3

Experimental results and curve fitting of nonlinear friction [3]. (a) The overall friction identification data. (b) The zoom figure at zero velocity region in (a). (c) The obtained static friction described by the model (2) with coefficients c1 = 700, c2 = 15, c3 = 1.5, a1 = 0.02, a2 = 0.01, and a3 = 0.205.

Grahic Jump Location
Fig. 4

The desired trajectory (normal case)

Grahic Jump Location
Fig. 5

Tracking errors of four controllers in normal case

Grahic Jump Location
Fig. 6

States estimation and control input of OFRC in normal case (a) States x1 and x2 estimation of OFRC and (b) Extended state x3 estimation and control input of OFRC

Grahic Jump Location
Fig. 7

Tracking errors of OFRC with position disturbance

Grahic Jump Location
Fig. 8

State x3 estimation and control input of OFRC with position disturbance



Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In