Title :
Integral backstepping control and experimental implementation for motion system
Author :
Tan, Yaolong ; Chang, Jie ; Tan, Hualin ; Hu, Jun
Author_Institution :
Sci. Center, Rockwell Int. Corp., Thousand Oaks, CA, USA
Abstract :
A novel nonlinear controller, backstepping control with integral function, is proposed for high performance motion control systems. Backstepping control utilizes Lyapunov function to guarantee the convergence of the position tracking error from all possible initial conditions. An integral action is integrated in the backstepping design. The added integrator improves the system´s robustness against modeling uncertainties and external disturbance, thus improving steady-state control accuracy. The proposed novel scheme has been implemented and tested on an actual industrial product platform. Experimental results and performance comparison confirm that the proposed backstepping control scheme offers significantly improved performance in terms of the trajectory tracking ability to time-varying reference input, system control bandwidth, and robustness against external disturbances
Keywords :
Lyapunov methods; convergence; motion control; nonlinear control systems; robust control; tracking; Lyapunov function; external disturbance robustness; guaranteed convergence; high-performance motion control systems; industrial product platform; initial conditions; integral backstepping control; integral function; modeling uncertainty robustness; motion system; nonlinear controller; position tracking error; steady-state control accuracy; system control bandwidth; time-varying reference input; trajectory tracking ability; Backstepping; Control systems; Convergence; Error correction; Lyapunov method; Motion control; Nonlinear control systems; Robust control; Steady-state; Uncertainty;
Conference_Titel :
Control Applications, 2000. Proceedings of the 2000 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
0-7803-6562-3
DOI :
10.1109/CCA.2000.897452
