DocumentCode :
2078569
Title :
The analysis of gain selection in adaptive backstepping motion control
Author :
Yu, Jen-te ; Hu, Jun ; Chang, Jie
Author_Institution :
Rockwell Sci. Co., Thousand Oaks, CA, USA
Volume :
1
fYear :
2001
fDate :
22-25 Oct. 2001
Firstpage :
247
Abstract :
Traditionally controller and estimator gains are chosen ad hoc in adaptive control designs as long as the control objectives are achieved. This paper considers motor position and velocity control problems and provides some analysis and guidelines for gain selection. Specifically we focus on an adaptive nonlinear backstepping motion control algorithm for motor position and velocity command tracking. We reformulate the nonlinear motion control system as a linear time-invariant system plus a nonlinear element in the feedback loop. By this novel reformulation some of the gains appear in the linear system. Stability and convergence rate requirements for the linear system naturally lead to the selection of these gains. By this analysis we also make the connection between the gain selection and the overall motion control system convergence rate both qualitatively and quantitatively.
Keywords :
adaptive control; angular velocity control; electric motors; feedback; machine control; motion control; nonlinear control systems; position control; stability; adaptive backstepping control; adaptive control designs; adaptive nonlinear backstepping motion control algorithm; control objectives; convergence rate; convergence rate requirements; dominant eigenvalue; feedback loop; gain selection; gain selection guideline; linear time-invariant system; motion control system convergence rate; motor position command tracking; motor position control; motor velocity command tracking; motor velocity control; nonlinear motion control system; stability requirements; Adaptive control; Backstepping; Convergence; Feedback loop; Guidelines; Linear systems; Motion control; Programmable control; Tracking; Velocity control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Power Electronics and Drive Systems, 2001. Proceedings., 2001 4th IEEE International Conference on
Print_ISBN :
0-7803-7233-6
Type :
conf
DOI :
10.1109/PEDS.2001.975320
Filename :
975320
Link To Document :
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