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

Li Hsin Chen, Chao Chung Peng

研究成果: Article

5 引文 斯高帕斯(Scopus)

摘要

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.

原文English
文章編號220
期刊Applied Sciences (Switzerland)
7
發行號3
DOIs
出版狀態Published - 2017 一月 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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