DocumentCode
1168924
Title
Integrator backstepping control of a brush DC motor turning a robotic load
Author
Dawson, D.M. ; Carroll, J.J. ; Schneider, M.
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
Volume
2
Issue
3
fYear
1994
fDate
9/1/1994 12:00:00 AM
Firstpage
233
Lastpage
244
Abstract
In this paper, we design and implement integrator backstepping controllers (i.e., adaptive and robust) for a brush DC motor driving a one-link robot manipulator. Through the use of Lyapunov stability-type arguments, we show that both of these controllers ensure “good” load position tracking despite parametric uncertainty throughout the entire electromechanical system. Experimental results are presented to illustrate the performance and feasibility of implementing the nonlinear control algorithms
Keywords
DC motors; Lyapunov methods; adaptive control; machine control; nonlinear control systems; position control; robots; stability; voltage control; Lyapunov stability; adaptive control; brush DC motor; integrator backstepping control; load position tracking; nonlinear control algorithms; one-link robot manipulator; robotic load; robust control; Adaptive control; Backstepping; Brushes; DC motors; Manipulators; Programmable control; Robots; Robust control; Stability; Turning;
fLanguage
English
Journal_Title
Control Systems Technology, IEEE Transactions on
Publisher
ieee
ISSN
1063-6536
Type
jour
DOI
10.1109/87.317980
Filename
317980
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