A simplified nonlinear control for sawyer motors based on singular perturbation theory

In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of Sawyer motor. The method of singular perturbation is characterized by the existence of slow and fast transients in the system dynamics. Thus, we can apply to singular perturbation at sawyer motor due to separated motor dynamics into slow and fast dynamics. The proposed method so as to decouple error dynamics consist of auxiliary control. The controller is developed in order to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the adequation of proposed method.