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Observer Backstepping for Nonlinear Drive Control

In English

Författare

Summary, in English

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.

Publiceringsår

2006

Språk

Engelska

Sidor

6217-6222

Publikation/Tidskrift/Serie

Proc. 45th IEEE Conf. Decision & Control (CDC2006)

Dokumenttyp

Konferensbidrag

Ämne

  • Control Engineering

Conference name

45th IEEE Conference on Decision and Control, 2006

Conference date

2006-12-13 - 2006-12-15

Conference place

San Diego, CA, United States

Status

Published

Projekt

  • LU Robotics Laboratory