Asymptotic Motion Control of Motor Servo Systems with Disturbance Compensation and Time-Varying Asymmetric Output Constraints

This paper proposes a novel asymptotic secure tracking controller for motor servo systems. By introducing a novel asymptotic disturbance observer, the system uncertainties can be asymptotically estimated and compensated. Furthermore, by introducing a tracking error-based barrier function, it can achieve that the system output remains within the prescribed time-varying constraint boundaries. Additionally, a nonlinear asymptotic filter is incorporated into the design, which effectively circumvents the inherent “explosion of complexity” issue and achieves asymptotic tracking performance. Finally, the stability of the system is demonstrated through Lyapunov-based theoretical analysis, and the effectiveness of the proposed controller is validated by simulation results.