A Simplified Nonlinear Control for Sawyer Motors based on Singular Perturbation Theory

Abstract

In this paper, we propose nonlinear control based on singular perturbation theory for position tracking and yaw regulation of Sawyer motors. Singular perturbation theory is characterized by the existence of slow and fast transients in the system dynamics. The proposed method consists of auxiliary control to decouple error dynamics. We develop model reduction with control input. Also, we deruve decoupled error dynamics with auxiliary input. The controller is designed in order to guarantee the desired position and yaw regulation without current feedback or estimation. Simulation results validate the effect of proposed method.