Advanced motion control scheme with integrator backstepping: design and analysis

Author

Tan, Yaolong ; Chang, Jie ; Tan, Hualin

Author_Institution

Sci. Center, Rockwell Int. Corp., Thousand Oaks, CA, USA

Volume

2

fYear

2000

fDate

2000

Firstpage

749

Abstract

An adaptive integrator backstepping approach is proposed in this paper for advanced motion control systems. The backstepping design achieves position command following objective, and the added integrator improves its robustness against the disturbance and modeling uncertainties and its steady-state performance. Adaptation is used to compensate parameter variations in terms of inertia, viscous friction, and load torque disturbance. The simulation result demonstrates the effectiveness of the proposed approach

Keywords

adaptive control; compensation; control system analysis; control system synthesis; friction; motion control; robust control; torque; adaptive control design; advanced motion control scheme; disturbance uncertainties; inertia; integrator backstepping; load torque disturbance; modeling uncertainties; parameter variations compensation; position command; robustness; steady-state performance; viscous friction; Adaptive control; Backstepping; Control systems; Friction; Motion control; Pi control; Robustness; Torque control; Uncertainty; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics Specialists Conference, 2000. PESC 00. 2000 IEEE 31st Annual

Conference_Location

Galway

ISSN

0275-9306

Print_ISBN

0-7803-5692-6

Type

conf

DOI

10.1109/PESC.2000.879909

Filename

879909