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Observer Backstepping for Nonlinear Drive Control

Fernández, Roemi ; Robertsson, Anders LU ; Johansson, Rolf LU orcid ; Akinfiev, Teodor and Armada, Manuel (2006) 45th IEEE Conference on Decision and Control, 2006 p.6217-6222
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)
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author
; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
host publication
Proc. 45th IEEE Conf. Decision & Control (CDC2006)
pages
6 pages
conference name
45th IEEE Conference on Decision and Control, 2006
conference location
San Diego, CA, United States
conference dates
2006-12-13 - 2006-12-15
external identifiers
  • scopus:39649114044
DOI
10.1109/CDC.2006.377290
project
LU Robotics Laboratory
language
English
LU publication?
yes
id
c4b3b338-e9be-4fee-8700-4484b127865c (old id 942593)
date added to LUP
2016-04-04 14:08:04
date last changed
2020-01-12 21:53:47
@inproceedings{c4b3b338-e9be-4fee-8700-4484b127865c,
  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},
  booktitle    = {Proc. 45th IEEE Conf. Decision & Control (CDC2006)},
  language     = {eng},
  pages        = {6217--6222},
  title        = {Observer Backstepping for Nonlinear Drive Control},
  url          = {http://dx.doi.org/10.1109/CDC.2006.377290},
  doi          = {10.1109/CDC.2006.377290},
  year         = {2006},
}