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This paper presents a controller design, referred to as the subsystem backstepping design (SSBD), for a class of nonlinear SISO mechatronic systems that comprise several cascaded subsystems. Compared with the conventional integrator backstepping design (CIBD) that deals with a first-order equation at each design step, the SSBD manages at each design step a subsystem that can be of high order. This...
This paper describes the tracking control of a harmonic drive actuator that features flexible transmission with significant torque ripples. The plant is modeled as a flexible-joint mechanism, and a design approach superior to the conventional integrator backstepping design is demonstrated to obtain a nominal controller. To deal with the torque ripples, internal model principle-based sliding-mode disturbance...
This paper presents the design of a high-order variable-structure disturbance observer (VSDO) that yields asymptotic estimation of unknown disturbances described by polynomial functions of time with arbitrary degrees. In comparison with conventional VSDO, the high-order VSDO requires a small switching gain for ensuring the existence of a sliding mode, thus diminishing the chattering phenomenon further...
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