Integrator backstepping control of a brush DC motor turning a robotic load

In this paper, we design and implement integrator backstepping controllers (i.e., adaptive and robust) for a brush DC motor driving a one-link robot manipulator. Through the use of Lyapunov stability-type arguments, we show that both of these controllers ensure "good" load position tracking despite parametric uncertainty throughout the entire electromechanical system. Experimental results are presented to illustrate the performance and feasibility of implementing the nonlinear control algorithms. >

[1]  T. J. E. Miller,et al.  Instantaneous torque control of electric motor drives , 1985, 1985 IEEE Power Electronics Specialists Conference.

[2]  D. Taylor,et al.  A feedback linearizing control for direct-drive robots with switched reluctance motors , 1986, 1986 25th IEEE Conference on Decision and Control.

[3]  S. Peresada,et al.  Feedback linearizing control of switched reluctance motors , 1987 .

[4]  George C. Verghese,et al.  Observers for flux estimation in induction machines , 1988 .

[5]  P. Kokotovic,et al.  A positive real condition for global stabilization of nonlinear systems , 1989 .

[6]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[7]  A. D. Luca,et al.  Design of an exact nonlinear controller for induction motors , 1989 .

[8]  David G. Taylor,et al.  Composite control of direct-drive robots , 1989, Proceedings of the 28th IEEE Conference on Decision and Control,.

[9]  John Tsinias,et al.  Sufficient lyapunov-like conditions for stabilization , 1989, Math. Control. Signals Syst..

[10]  A. Isidori,et al.  New results and examples in nonlinear feedback stabilization , 1989 .

[11]  N. Hemati,et al.  Robust nonlinear control of brushless DC motors for direct-drive robotic applications , 1990 .

[12]  Weiping Li,et al.  Applied Nonlinear Control , 1991 .

[13]  D. Dawson,et al.  Lyapunov direct design of robust tracking control for classes of cascaded nonlinear uncertain systems without matching conditions , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[14]  David G. Taylor,et al.  Low-torque-ripple switched reluctance motors for direct-drive robotics , 1991, IEEE Trans. Robotics Autom..

[15]  D.G. Taylor,et al.  An experimental study on composite control of switched reluctance motors , 1991, IEEE Control Systems.

[16]  G. Bastin,et al.  Adaptive Stabilization of Nonlinear-systems , 1991 .

[17]  David G. Taylor,et al.  Adaptive control design for a class of doubly-salient motors , 1991, [1991] Proceedings of the 30th IEEE Conference on Decision and Control.

[18]  P. Kokotovic.  Foundations of Adaptive Control , 1991 .

[19]  Zhihua Qu,et al.  Adaptive Tracking Control of a Switched Reluctance Motor Turning an Inertial Load , 1992 .

[20]  N. Hemati,et al.  The global and local dynamics of direct-drive brushless DC motors , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[21]  Philip T. Krein,et al.  New controller-observer design for induction motor control , 1992 .

[22]  Zhihua Qu,et al.  Tracking control of rigid-link electrically – driven robot manipulators , 1992 .

[23]  Ioannis Kanellakopoulos,et al.  Adaptive Control of Nonlinear Systems , 1992 .

[24]  P.V. Kokotovic,et al.  The joy of feedback: nonlinear and adaptive , 1992, IEEE Control Systems.

[25]  P. T. Krein,et al.  Nonlinear Flux-Observer-Based Control of Induction Motors , 1992, 1992 American Control Conference.

[26]  I. Kanellakopoulos,et al.  Adaptive nonlinear control without overparametrization , 1992 .

[27]  M. Spong.  On the robust control of robot manipulators , 1992 .

[28]  R. S. Wallace,et al.  A balanced commutator for switched reluctance motors to reduce torque ripple , 1992 .

[29]  Romeo Ortega,et al.  Nonlinear control of induction motors: torque tracking with unknown load disturbance , 1993, IEEE Trans. Autom. Control..

[30]  John Chiasson,et al.  Dynamic feedback linearization of the induction motor , 1993, IEEE Trans. Autom. Control..

[31]  R. Marino,et al.  Global adaptive output-feedback control of nonlinear systems. I. Linear parameterization , 1993, IEEE Trans. Autom. Control..

[32]  Yi Qian,et al.  Position tracking control of an induction motor via partial state feedback , 1993, Proceedings of IEEE International Conference on Control and Applications.

[33]  Carlos Canudas de Wit,et al.  Robot motion control using induction motor drives , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[34]  John N. Chiasson,et al.  High-performance nonlinear feedback control of a permanent magnet stepper motor , 1993, IEEE Trans. Control. Syst. Technol..

[35]  Darren M. Dawson,et al.  Adaptive control of rigid-link electrically-driven robots , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[36]  John Chiasson,et al.  Nonlinear speed observer for the PM stepper motor , 1993, IEEE Trans. Autom. Control..

[37]  Brad Paden,et al.  Adaptive linearization of hybrid step motors: stability analysis , 1993 .

[38]  Darren M. Dawson,et al.  Robust tracking control of a brushless DC motor with application to direct-drive robotics , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[39]  Romeo Ortega,et al.  Torque regulation of induction motors, , 1993, Autom..

[40]  J. J. Carroll,et al.  Semiglobal position tracking control of brushless DC motors using output feedback , 1993, Proceedings of 32nd IEEE Conference on Decision and Control.

[41]  Jennifer Stephan,et al.  An Adaptive Method for Induction Motor Control , 1993, 1993 American Control Conference.

[42]  R. Marino,et al.  Adaptive input-output linearizing control of induction motors , 1993, IEEE Trans. Autom. Control..

[43]  E. Yaz.  Comments on "On the robust control of robot manipulators by M.W. Spong , 1993, IEEE Trans. Autom. Control..

[44]  J. Hu,et al.  Robust Tracking Control of an Induction Motor , 1993, 1993 American Control Conference.

[45]  N. Hemati.  Dynamic analysis of brushless motors based on compact representations of the equations of motion , 1993, Conference Record of the 1993 IEEE Industry Applications Conference Twenty-Eighth IAS Annual Meeting.