On the 10th International Workshop on Sensing, Actuation, Motion Control and Optimization (SAMCON 2024), March 2-4, 2024 Kyoto, Japan, the paper by Prof. Shihua Li’s team from the School of Automation of Southeast University entitled “Composite Finite-Time Control of Electromechanical Actuator With Integrated Friction Compensation and Uncertainties Attenuation” won the Outstanding Paper Award.

Fig. 1  The Outstanding Paper Award

Workshop Venue: Kyoto, Japan

Paper Title: Composite Finite-Time Control of Electromechanical Actuator With Integrated Friction Compensation and Uncertainties Attenuation

Authors: Yuan Jiang, Jun Yang, Xinming Wang, Zuo Wang, Shihua Li *.

Abstract of Paper: Electromechanical actuators (EMAs) are extensively used as one of the key actuators in aerospace field. However, the adverse factors consist of both internal friction nonlinearity and external disturbances unavoidably deteriorate its positioning accuracy. Meanwhile, the high maneuverability of the flight vehicle puts extremely prompt standards on the dynamic convergence of EMA. To this end, a composite finite-time controller (CFTC) with integrated friction compensation and uncertainties attenuation is proposed in this paper. Unlike previous studies in which friction and disturbance are handled without classification, the nonlinear friction term is firstly off-line identified via a high-order super-twisting observer (HOSTO) for precise nominal system modeling, then the rest uncertainties are on-line estimated by the modified friction-embedded HOSTO. On this basis, the CFTC scheme is proposed for EMA to realize the finite-time position convergence even in the presence of both friction and disturbances. Comparative experiments with various cases are conducted to comprehensively validate the effectiveness of the proposed approach.

Fig. 2  Scene of the workshop