Published December 24, 2011
| Version 14415
Journal article
Open
Adaptive Nonlinear Backstepping Control
Authors/Creators
Description
This paper presents an adaptive nonlinear position
controller with velocity constraint, capable of combining the
input-output linearization technique and Lyapunov stability theory.
Based on the Lyapunov stability theory, the adaptation law of the
proposed controller is derived along with the verification of the overall
system-s stability. Computer simulation results demonstrate that the
proposed controller is robust and it can ensure transient stability of
BLDCM, under the occurrence of a large sudden fault.
Files
14415.pdf
Files
(270.1 kB)
| Name | Size | Download all |
|---|---|---|
|
md5:8f37156a0530a4f53c0c055b51a19504
|
270.1 kB | Preview Download |
Additional details
References
- A. Isidori, Nonlinear Control Systems, Springer, 1989.
- J.J. Slotine and W.Li, Applied Nonlinear Control, Prentice-Hall, NJ, 1991.
- P.D. Oliver, "Feedback linearization of DC motors," IEEE Trans. Industrial Electronics, vol. 38, no. 6, 1991, pp. 498-501.
- ZUO Z. LIU, FANG L. LUO and MUHAMMAD H. RASHID, "Nonlinear Load-Adaptive MIMO Controller for DC motor Field Weakining,"Taylor & Francis Electric Machines and Power Systems, vol. 28, 2000, pp. 929-944.
- Z. Ding, "Adaptive control of triangular systems with nonlinear parameterization," IEEE Tran. On Automatic Control, vol. 46, no. 12, Dec. 2001, pp. 1963-1968.
- M. Krstic, I. Kanellakopoulos and P. Kokotovic, Nonlinear and Adaptive Control design, Wiley, 1995,
- R. Krishnan, Electric Motor Drives modelling, analysis and control, Prentice-Hall, 2001.
- Khoi B Ngo, Robert Mahony and Zhong-Ping Jiang, "Integrator Backstepping Design for Motion Systems with Velocity Constraint," in Proceedings of the 2004 5th Asian Control Conference, pp. 141-145.