Title :
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
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;
Journal_Title :
Industrial Electronics, IEEE Transactions on
DOI :
10.1109/TIE.2003.817574
