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

fYear

2008

fDate

25-27 June 2008

Firstpage

77

Lastpage

81

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/WCICA.2008.4594427

Filename

4594427