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

被引：259

作者：

Dawson, D.M. ^{[1
]}

Carroll, J.J. ^{[1
]}

Schneider, M. ^{[1
]}

机构：

[1] Clemson Univ, Clemson, United States

来源：

IEEE Transactions on Control Systems Technology | 1994年 / 2卷 / 03期

基金：

美国国家科学基金会;

关键词：

Adaptive control systems - Algorithms - Control system synthesis - Electromechanical devices - Lyapunov methods - Manipulators - Nonlinear control systems - Position control - Robotics - Robustness (control systems) - System stability - Turning;

D O I：

10.1109/87.317980

中图分类号：

学科分类号：

摘要：

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.

引用

页码：233 / 244