Adaptive Filtered Prescribed-Time Position Control of Motor Driving Servo Systems

Abstract

This study provides an adaptive filtered prescribed-time position control scheme for motor driving servo systems. A desired error trajectory is constructed by employing a smoothly decreasing continuous function, such that the prescribed-time position tracking control of the motor driving servo system can be equivalently transformed into the error tracking control design. Then, a prescribed-time controller is developed to drive the position tracking error to track the desired error trajectory, such that the error convergence can be achieved at the prescribed settling time. Besides, a novel adaptive filter is presented to avoid differentiating virtual control variables in recursive procedures and ensure the filter error convergence into a small bound near the origin within the preset finite time. Some experiments on a practical motor driving servo system are performed to verify the effectiveness of the proposed method.