A new adaptive backstepping design for motion control systems

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.