Journal
APPLIED SCIENCES-BASEL
Volume 7, Issue 3, Pages -Publisher
MDPI AG
DOI: 10.3390/app7030220
Keywords
backstepping controller; friction; motion control; sliding mode control
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Funding
- Ministry of Science and Technology, Taiwan [MOST 105-2218-E-006-015, MOST 105-2218-E-006-025]
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This paper presents a robust backstepping design for motion control in the presence of model uncertainties and exogenous disturbances. The main difficulty in dealing with motion control is to reduce the effect of friction, which exists in the moving mechanism and induces nonlinear behavior. In this study, the friction dynamic is considered as the external disturbance, and the proposed backstepping control algorithm is integrated with the sliding mode control, so that the effect of matching disturbances can be eliminated. The proposed approach guarantees the system asymptotic stability, globally, without significant chatter. Therefore, the developed algorithm can be realized for practical manufacturing motion control stages. Experiments including positioning and tracking controls are conducted to demonstrate the feasibility of the proposed method.
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