Adaptive backstepping output feedback control of DC motor actuator with friction and load uncertainty compensation

被引:21
作者
Ahmed, Fayez Shakil [1 ]
Laghrouche, Salah [1 ]
Harmouche, Mohamed [1 ]
机构
[1] Univ Technol Belfort Montbeliard, IRTES SeT, F-90000 Belfort, France
关键词
exact finite time differentiator; adaptive backstepping output feedback control; DC motor actuator; friction and load uncertainty; experiments on an engine test bench; IDENTIFICATION; SERVO;
D O I
10.1002/rnc.3184
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we present an output feedback backstepping controller for mechatronic actuators with dynamic adaptive parameters for friction and load compensation. The targeted application is angular position control of automotive mechatronic valves, which possess nonlinear dynamics due to friction. The proposed controller requires only position measurement. The velocity, current, and friction dynamics are obtained by estimation and observation. The adaptive control law compensates the variations in friction behavior and load torque variation, which are common in real life applications. Lyapunov analysis has been used to show the asymptotic convergence of the closed-loop system to zero. Simulation and laboratory experimental results illustrate the effectiveness and robustness of the controller. Further experiments on an engine test bench demonstrate the applicability of this controller in commercial engines, as well as its effectiveness as compared with conventional PI controllers. Copyright (C) 2014 John Wiley & Sons, Ltd.
引用
收藏
页码:1967 / 1992
页数:26
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