Title :
Adaptive fuzzy backstepping control of AC servo systems in the presence of nonlinear dynamic effect and mechanical uncertainties
Author_Institution :
Dept. of Electr. Eng., Dongguk Univ., Seoul
Abstract :
An adaptive fuzzy backstepping controller is proposed for rotor angle position control for an AC servo motor with the non-uniform LuGre friction model in the presence of parameter uncertainties. A compensation controller is also employed to estimate the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulations are included to show the effectiveness of the proposed controller.
Keywords :
AC motors; Lyapunov methods; adaptive control; asymptotic stability; closed loop systems; fuzzy control; machine control; nonlinear dynamical systems; numerical analysis; position control; rotors; servomotors; uncertain systems; AC servo systems; Lyapunov synthesis approach; adaptive fuzzy backstepping control; asymptotic stability; closed loop control system; compensation controller; mechanical uncertainties; nonlinear dynamic effects; nonuniform friction model; numerical simulations; parameter uncertainties; rotor angle position control; shattering effect; Adaptive control; Backstepping; Control system synthesis; Control systems; Fuzzy control; Fuzzy systems; Nonlinear control systems; Programmable control; Servomechanisms; Uncertainty; Fuzzy control; adaptive control; backstepping control;
Conference_Titel :
Automation Congress, 2008. WAC 2008. World
Conference_Location :
Hawaii, HI
Print_ISBN :
978-1-889335-38-4
Electronic_ISBN :
978-1-889335-37-7
