Extended backstepping sliding controller design for chattering attenuation and its application for servo motor control

Li Hsin Chen, Chao Chung Peng

Research output: Contribution to journalArticle

5 Citations (Scopus)

Abstract

This paper presents a robust backstepping design for motion control in the presence of model uncertainties and exogenous disturbances. The main difficulty in dealing with motion control is to reduce the effect of friction, which exists in the moving mechanism and induces nonlinear behavior. In this study, the friction dynamic is considered as the external disturbance, and the proposed backstepping control algorithm is integrated with the sliding mode control, so that the effect of matching disturbances can be eliminated. The proposed approach guarantees the system asymptotic stability, globally, without significant chatter. Therefore, the developed algorithm can be realized for practical manufacturing motion control stages. Experiments including positioning and tracking controls are conducted to demonstrate the feasibility of the proposed method.

Original languageEnglish
Article number220
JournalApplied Sciences (Switzerland)
Volume7
Issue number3
DOIs
Publication statusPublished - 2017 Jan 1

All Science Journal Classification (ASJC) codes

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

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