Title :
Advanced motion control scheme with integrator backstepping: design and analysis
Author :
Tan, Yaolong ; Chang, Jie ; Tan, Hualin
Author_Institution :
Sci. Center, Rockwell Int. Corp., Thousand Oaks, CA, USA
Abstract :
An adaptive integrator backstepping approach is proposed in this paper for advanced motion control systems. The backstepping design achieves position command following objective, and the added integrator improves its robustness against the disturbance and modeling uncertainties and its steady-state performance. Adaptation is used to compensate parameter variations in terms of inertia, viscous friction, and load torque disturbance. The simulation result demonstrates the effectiveness of the proposed approach
Keywords :
adaptive control; compensation; control system analysis; control system synthesis; friction; motion control; robust control; torque; adaptive control design; advanced motion control scheme; disturbance uncertainties; inertia; integrator backstepping; load torque disturbance; modeling uncertainties; parameter variations compensation; position command; robustness; steady-state performance; viscous friction; Adaptive control; Backstepping; Control systems; Friction; Motion control; Pi control; Robustness; Torque control; Uncertainty; Velocity control;
Conference_Titel :
Power Electronics Specialists Conference, 2000. PESC 00. 2000 IEEE 31st Annual
Conference_Location :
Galway
Print_ISBN :
0-7803-5692-6
DOI :
10.1109/PESC.2000.879909
