Adaptive Antidisturbance Prescribed Performance Control for Electromechanical Fin Actuators

In this article, a novel adaptive antidisturbance control scheme is proposed for electromechanical fin actuators (EMFAs) with multiple composite disturbances including parametric uncertainties, backlash, friction and hinge moment. A nonlinear system model is introduced to explicitly consider backlash and friction and, unlike existing control schemes, the hinge moment is not required to bounded by a constant or be linear with respect to the deflection angle. By fusing the techniques of adaptive compensation and adaptive attenuation, the effects of multiple composite disturbances are well handled. Particularly, the designed adaptive laws flexibly incorporate the prior information of system parameters and reduce the conservativeness while empowering the controller with adaptability. Moreover, the proposed scheme is able to make the deflection angle track the command signal with prescribed maximum overshoot, convergence rate and steady-state accuracy. Both simulation and experimental results demonstrate the effectiveness of the proposed scheme.