Observer Based Nonlinear Control using Barrier Lyapunov Function for Position Tracking of Sawyer Motor under Yaw Constraint
- Title
- Observer Based Nonlinear Control using Barrier Lyapunov Function for Position Tracking of Sawyer Motor under Yaw Constraint
- Author
- 정정주
- Keywords
- Sawyer Motor; Position control; Disturbance observer and Barrier Lyapunov Function
- Issue Date
- 2016-10
- Publisher
- International Conference on Control, Automation, and Systems
- Citation
- 2016 16th International Conference on Control, Automation and Systems (ICCAS), Page. 1440-1445
- Abstract
- In this paper, we present an observer based nonlinear controller using barrier Lyapunov function (BLF) for position tracking of Sawyer motor under yaw constraint. The dynamics of Sawyer motor is modified to apply BLF-based backstepping control design. To relax the matching condition, torque and force modulations are proposed. The modulations enable decoupling forces and torque of the Sawyer motor, and facilitate implementing the design of backstepping controller with the BLF. In addition, we propose a state augmented nonlinear observer to estimate the velocities, yaw rate, load forces and load torque. We show the closed-loop stability with a composite Lyapunov function. Simulation results validate the effectiveness of the proposed method.
- URI
- https://ieeexplore.ieee.org/document/7832493?arnumber=7832493&SID=EBSCO:edseeehttps://repository.hanyang.ac.kr/handle/20.500.11754/98797
- ISBN
- 978-89-93215-11-3
- DOI
- 10.1109/ICCAS.2016.7832493
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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