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

被引：158
|
作者：
Tan, YL
Chang, J
Tan, HL
机构：
[1] Voyan Technol, Santa Clara, CA USA
[2] Rockwell Int Sci Ctr, Control & Power Syst, Thousand Oaks, CA 91360 USA
[3] Visteon Corp, Canton, MI 48187 USA
来源：
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 2003年 / 50卷 / 05期
关键词：
backstepping control design; motion control; nonlinear adaptive control; variation of inertia and load;
D O I：
10.1109/TIE.2003.817574
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：944 / 952
页数：9
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