Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties

Author

Tan, Yaolong ; Chang, Jie ; Tan, Hualin

Author_Institution

Voyan Technol., Santa Clara, CA, USA

Volume

50

Issue

5

fYear

2003

Firstpage

944

Lastpage

952

Abstract

An adaptive backstepping control with friction compensation scheme is presented. A third-order linear dynamic model is used for the AC motor control system design while the LuGre dynamic friction model with nonuniform friction force variations characterizes the friction force. Nonlinear adaptive control laws are designed to compensate the unknown system parameters and disturbances. System robustness and asymptotic position tracking performance are shown through simulation and experimental results.

Keywords

adaptive control; compensation; friction; induction motors; machine control; position control; robust control; servomotors; AC motor control system design; AC servo; LuGre dynamic friction model; adaptive backstepping control; asymptotic position tracking performance; friction compensation; induction motor control; inertia; load uncertainties; nonlinear adaptive control laws; nonuniform friction force variations; system robustness; third-order linear dynamic mode; third-order linear dynamic model; unknown system parameters compensation; AC motors; Adaptive control; Backstepping; Control system synthesis; Force control; Friction; Nonlinear dynamical systems; Programmable control; Servomechanisms; Uncertainty;

fLanguage

English

Journal_Title

Industrial Electronics, IEEE Transactions on

Publisher

ieee

ISSN

0278-0046

Type

jour

DOI

10.1109/TIE.2003.817574

Filename

1234440