Abstract
Nonlinear adaptive output feedback control of stepper motors is considered in this paper. Utilizing the phase currents as inputs, an adaptive controller is derived for permanent magnet (PM) and variable reluctance (VR) stepper motors that achieves robustness to parametric and dynamic uncertainties such as friction, load torque or cogging torque in the motor dynamics. The controller utilizes only the rotor position for feedback and achieves global uniform boundedness of the tracking error. The design methodology is based on our earlier work on robust adaptive control of nonlinear systems. The stability of the system is proved through Lyapunov techniques. Simulation results are depicted to illustrate the performance of the controller.
| Original language | English (US) |
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| Pages | 755-760 |
| Number of pages | 6 |
| State | Published - 1999 |
| Event | Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) - Kohala Coast, HI, USA Duration: Aug 22 1999 → Aug 27 1999 |
Other
| Other | Proceedings of the 1999 IEEE International Conference on Control Applications (CCA) and IEEE International Symposium on Computer Aided Control System Design (CACSD) |
|---|---|
| City | Kohala Coast, HI, USA |
| Period | 8/22/99 → 8/27/99 |
ASJC Scopus subject areas
- Control and Systems Engineering