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
fDate :
9/1/1994 12:00:00 AM
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;
Journal_Title :
Control Systems Technology, IEEE Transactions on
