Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors

Wonhee Kim, Donghoon Shin and Youngwoo Lee
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Wonhee Kim: School of Energy Systems Engineering, Chung-Ang University, Seoul 06974, Korea
Donghoon Shin: Global R&D Center, MANDO Corporation, Seongnam 463-400, Korea
Youngwoo Lee: Department of Electrical Engineering, Chonnam National University, Gwangju 61186, Korea

Mathematics, 2020, vol. 8, issue 8, 1-18

Abstract: In this paper, we propose a nonlinear position control using only position feedback to guarantee the tolerances for position tracking errors and yaw. In the proposed method, both mechanical and electrical dynamics are considered. The proposed method consists of the nonlinear position controller and nonlinear observer. The nonlinear position controller is designed by a backstepping procedure using the barrier Lyapunov function to satisfy the constraints of position error and yaw. The nonlinear observer is developed to estimate full state using only position feedback. The stability of the closed-loop system is proven using Lyapunov and input-to-state stabilities. Consequently, the proposed method satisfies the constraints of position error and yaw using only position feedback for the planar motor.

Keywords: planar motor; position control; observer (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2020
References: View complete reference list from CitEc
Citations: View citations in EconPapers (1)

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