Adaptive fuzzy backstepping control of AC servo systems in the presence of nonlinear dynamic effect and mechanical uncertainties

An adaptive fuzzy backstepping controller is proposed for rotor angle position control for an AC servo motor with the non-uniform LuGre friction model in the presence of parameter uncertainties. A compensation controller is also employed to estimate the bound of approximation error so that the shattering effect of the control effort can be reduced. Thus the asymptotic stability of the closed loop control system can be obtained based on a Lyapunov synthesis approach. Numerical simulations are included to show the effectiveness of the proposed controller.

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