Adaptive, nonlinear state transformation-based control of motion in presence of hard constraints

• Autorzy: Kabziński J. , Mosiołek P.

Identyfikatory

DOI

10.24425/bpasts.2020.134653

• Języki publikacji: EN

Abstrakty

EN

The paper describes a nonlinear controller design technique applied to a servo drive in the presence of hard state constraints. The approach presented is based on nonlinear state-space transformation and adaptive backstepping. It allows us to impose hard constraints on the state variables directly and to achieve asymptotic tracking of any reference trajectory inside the constraints, despite unknown plant parameters. Two control schemes (with and without integral action) are derived, investigated and then compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in case of motion control problems in electric drive automation.

Słowa kluczowe

EN

motion control; nonlinear control; adaptive control; state constraints

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2020
• Tom: Vol. 68, nr 5
• Strony: 963–--971
• Opis fizyczny: Bibliogr. 26 poz., rys., tab.

Twórcy

autor

Kabziński J.

• Institute of Automatic Control, Lodz University of Technology, Stefanowskiego 18/22 Lodz, Poland

autor

Mosiołek P.

• Institute of Automatic Control, Lodz University of Technology, Stefanowskiego 18/22 Lodz, Poland

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