Title :
A new adaptive backstepping design for motion control systems
Author :
Yu, Jen-te ; Chang, Jie
Author_Institution :
Rockwell Sci., Thousand Oaks, CA, USA
Abstract :
A new adaptive backstepping motion control system design is proposed. The closed loop system can be formulated as a linear-nonlinear cascaded system, with a linear time-invariant plant in the feedforward loop and a nonlinear element in the feedback loop, whose content is the second time derivative of the given reference position signal. The system can adapt itself to operational, system and/or environmental variations. One of the advantages of the new design is that it links system gain tuning with the variations explicitly and quantitatively. The effectiveness of the system is verified by an existing experiment.
Keywords :
adaptive control; asymptotic stability; cascade control; closed loop systems; control system synthesis; feedback; feedforward; linear systems; machine control; motion control; nonlinear control systems; adaptive backstepping motion control system design; asymptotic stability; closed loop systems; environmental variations; feedback loop; feedforward loop; gain tuning; linear time invariant plant; linear-nonlinear cascaded system; nonlinear element; operational variations; position signal; system variations; time derivatives; Adaptive control; Backstepping; Closed loop systems; Design methodology; Equations; Feedback loop; Lyapunov method; Motion control; Programmable control; Stability analysis;
Conference_Titel :
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN :
0-7803-7906-3
DOI :
10.1109/IECON.2003.1279969
