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http://dx.doi.org/10.5394/KINPR.2007.31.1.055

A Design of Adaptive Backstepping Controller for Improving Position Accuracy of Linear Motor-based Container Transportation System with Dynamic Friction  

Seo, Jung-Hyun (Department of Electrical Engineering, Dong-A University)
Han, Geun-Jo (Division of Mechanical Engineering, Dong-A University)
Lee, Kwon-Soon (Department of Electrical Engineering, Dong-A University)
Lee, Jin-Woo (Department of Electrical Engineering, Dong-A University)
Publication Information
Journal of Navigation and Port Research / v.31, no.1, 2007 , pp. 55-64 More about this Journal
Abstract
In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.
Keywords
Nonlinear dynamic friction; Compensator; Adaptive control; Linear motor; Parameter estimator;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
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