Adaptive output-feedback control of planar hybrid step motors using position-only feedback

P. Krishnamurthy, F. Khorrami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, the design of a nonlinear robust adaptive dynamic output-feedback controller for voltage-fed dual-axis linear stepper (Sawyer) motors is addressed using a detailed motor model with electrical dynamics and significant uncertainties and disturbances. The proposed controller utilizes only position measurements in each axis, and achieves practical stabilization of position tracking errors. Velocity and current measurements are not required for feedback. Furthermore, the only electromechanical motor parameter that is required to be known is the time constant of the electrical subsystem. Adaptations are utilized to remove requirement of knowledge of any other electromechanical system parameters. The controller is robust to load torques, friction, cogging forces, and other disturbances satisfying certain bounds. The controller also corrects for the yaw rotation to achieve synchrony of motor and rotor teeth.

Original languageEnglish (US)
Title of host publication2011 9th IEEE International Conference on Control and Automation, ICCA 2011
Pages567-572
Number of pages6
DOIs
StatePublished - Dec 1 2011
Event9th IEEE International Conference on Control and Automation, ICCA 2011 - Santiago, Chile
Duration: Dec 19 2011Dec 21 2011

Publication series

NameIEEE International Conference on Control and Automation, ICCA
ISSN (Print)1948-3449
ISSN (Electronic)1948-3457

Other

Other9th IEEE International Conference on Control and Automation, ICCA 2011
CountryChile
CitySantiago
Period12/19/1112/21/11

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ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Krishnamurthy, P., & Khorrami, F. (2011). Adaptive output-feedback control of planar hybrid step motors using position-only feedback. In 2011 9th IEEE International Conference on Control and Automation, ICCA 2011 (pp. 567-572). [6138060] (IEEE International Conference on Control and Automation, ICCA). https://doi.org/10.1109/ICCA.2011.6138060