Adaptive backstepping control and friction compensation for AC servo with inertia and load uncertainties
Yaolong Tan
Jie Chang
Hualin Tan
Voyan Technol., Santa Clara, CA, USA;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: Oct. 2003
Volume: 50,
Issue: 5
On page(s): 944- 952
ISSN: 0278-0046
INSPEC Accession Number: 7757099
Digital Object Identifier: 10.1109/TIE.2003.817574
Current Version Published: 2003-10-07
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.
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