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Observer Backstepping for Nonlinear Drive Control

Fernández, Roemi; Robertsson, Anders LU ; Johansson, Rolf LU ; Akinfiev, Teodor and Armada, Manuel (2006) 45th IEEE Conference on Decision and Control, 2006
Abstract
This paper addresses the control problem of a specially designed nonlinear actuator intended for use in legged robots and other related mechatronic devices. Use of this drive could considerably increase energy efficiency and the time of autonomous robot operation. Nevertheless, the highly nonlinear model of the actuator and the unavailability of part of the state for measurement pose considerable challenges to the control system design. The proposed control solution utilizes the observer-based backstepping algorithm to produce a nonlinear controller that ensures asymptotic tracking of the desired law

of motion. Experimental results with friction compensation are presented to show the effectiveness and feasibility of the proposed... (More)
This paper addresses the control problem of a specially designed nonlinear actuator intended for use in legged robots and other related mechatronic devices. Use of this drive could considerably increase energy efficiency and the time of autonomous robot operation. Nevertheless, the highly nonlinear model of the actuator and the unavailability of part of the state for measurement pose considerable challenges to the control system design. The proposed control solution utilizes the observer-based backstepping algorithm to produce a nonlinear controller that ensures asymptotic tracking of the desired law

of motion. Experimental results with friction compensation are presented to show the effectiveness and feasibility of the proposed nonlinear control method. (Less)
Please use this url to cite or link to this publication:
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organization
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type
Contribution to conference
publication status
published
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conference name
45th IEEE Conference on Decision and Control, 2006
external identifiers
  • Scopus:39649114044
language
English
LU publication?
yes
id
cf46c166-ab8a-40a6-87e7-fbe171aa50ac (old id 943237)
date added to LUP
2008-01-22 13:59:58
date last changed
2016-10-13 05:00:40
@misc{cf46c166-ab8a-40a6-87e7-fbe171aa50ac,
  abstract     = {This paper addresses the control problem of a specially designed nonlinear actuator intended for use in legged robots and other related mechatronic devices. Use of this drive could considerably increase energy efficiency and the time of autonomous robot operation. Nevertheless, the highly nonlinear model of the actuator and the unavailability of part of the state for measurement pose considerable challenges to the control system design. The proposed control solution utilizes the observer-based backstepping algorithm to produce a nonlinear controller that ensures asymptotic tracking of the desired law<br/><br>
of motion. Experimental results with friction compensation are presented to show the effectiveness and feasibility of the proposed nonlinear control method.},
  author       = {Fernández, Roemi and Robertsson, Anders and Johansson, Rolf and Akinfiev, Teodor and Armada, Manuel},
  language     = {eng},
  title        = {Observer Backstepping for Nonlinear Drive Control},
  year         = {2006},
}