Nonlinear position control using only position feedback under position errors and yaw constraints for air bearing planar motorsopen access
- Authors
- Kim, W.; Shin, D.; Lee, Y.
- Issue Date
- Aug-2020
- Publisher
- MDPI AG
- Keywords
- Observer; Planar motor; Position control
- Citation
- Mathematics, v.8, no.8
- Journal Title
- Mathematics
- Volume
- 8
- Number
- 8
- URI
- https://scholarworks.bwise.kr/cau/handle/2019.sw.cau/53679
- DOI
- 10.3390/MATH8081354
- ISSN
- 2227-7390
2227-7390
- 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. © 2020 by the authors.
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- Appears in
Collections - College of Engineering > School of Energy System Engineering > 1. Journal Articles
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