Title :
A 32-Bit DSP Based Backstepping Motion Control System
Author :
Tan, Yaolong ; Chang, Jie Jay
Author_Institution :
Florida State Univ., Tallahassee, FL
Abstract :
Novel nonlinear backstepping digital control system is proposed for high-performance motion control systems. It utilizes Lyapunov function to guarantee the convergence of the position tracking error from all possible system transient conditions. The added integrator improves the system´s robustness against the parameter changes and inaccuracy of the modeling, thus improving the steady-state control accuracy. The proposed novel scheme is synthesized by a systematic approach and implemented based on a modern DSP controller, TMS320C32. Experimental results and performance comparison confirm that the proposed scheme offers improved performance in terms of the position trajectory tracking ability to time-varying reference input, system control bandwidth, and robustness against external disturbances
Keywords :
Lyapunov methods; digital control; digital signal processing chips; motion control; nonlinear control systems; power engineering computing; robust control; time-varying systems; DSP based backstepping motion control system; Lyapunov function; TMS320C32 DSP controller; nonlinear backstepping digital control system; position trajectory tracking error; steady-state control accuracy; system control bandwidth; system robustness; system transient conditions; time-varying reference input; Backstepping; Control system synthesis; Convergence; Digital control; Digital signal processing; Lyapunov method; Motion control; Robust control; Steady-state; Trajectory;
Conference_Titel :
Industrial Electronics, 2006 IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0496-7
Electronic_ISBN :
1-4244-0497-5
DOI :
10.1109/ISIE.2006.295905
