Design of Adaptive Robust Controller for Numerical Control System
Wang Junping¹,Wang An¹,Jing Zhongliang²,Xu Xinhuai³
(1.Department of Automatic Control, Northwestern Polytechnical University,Xi'an 710072,　China;2.Institute of Aerospace Information and Control,Shanghai Jiaotong University;3.Calibration and Testing Center, Dushanzi Petrochemical Company)

Abstract：Based on the Lyapunov stability theory and inverse dynamic method, the adaptive robust control and monitoring strategy were used to treat the problems including the compensation of friction nonlinearity, parameter variation and unmodeled dynamics in the design of the numerical control controller. The proposed controller can enhance the stability robustness and performance robustness. The theoretical analysis and simulation results show that the performance of controller is better than the control strategy based on disturbance observer.
Keywords：adaptive robust control;nonlinear control;friction compensation;numerical control system