Title :
Decoupling controller design for passive force control system based on backstepping control
Author :
Zhang, Biao ; Cao, Jian ; Zhao ; Li, Ge-Qiang
Author_Institution :
Sch. of Mechatron. Eng., Harbin Inst. of Technol., Harbin
Abstract :
Based on backstepping control laws, a method of separating the coupling variables is proposed, and the decoupling control strategy is developed for passive force control system. The coupling mathematic model of passive force control system is built first. Then using the developed method, the coupling relation of the system is moved to the initial input of each subsystem step by step, then gets the controllers of each coupling subsystem. That is the coupling system is decoupled by the controllers with coupling relations. At last the simulation of whole system is made using the propose method. The theory and simulation results illustrate the efficiency of the proposed control strategy.
Keywords :
couplings; force control; machine control; backstepping control; coupling mathematic model; decoupling controller design; passive force control; Adaptive control; Backstepping; Control systems; Equations; Force control; Mechanical systems; Mechanical variables control; Mechatronics; Sliding mode control; Valves; Coupling system; backstepping control; dynamic load system; variables separating;
Conference_Titel :
Intelligent Control and Automation, 2008. WCICA 2008. 7th World Congress on
Conference_Location :
Chongqing
Print_ISBN :
978-1-4244-2113-8
Electronic_ISBN :
978-1-4244-2114-5
DOI :
10.1109/WCICA.2008.4594427
