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In this paper, we present an observer based nonlinear controller using barrier Lyapunov function (BLF) for position tracking of Sawyer motor under yaw constraint. The dynamics of Sawyer motor is modified to apply BLF-based backstepping control design. To relax the matching condition, torque and force modulations are proposed. The modulations enable decoupling forces and torque of the Sawyer motor,...
We innovate an approach to position control, a robust nonlinear damping backstepping with augmented observer for position control of permanent magnet stepper motors (PMSMs). The proposed method requires only position feedback and nominal value of Km over JL among PMSM parameters. We propose new 3rd order single-input single-output PMSM dynamics that consist of position, velocity, and acceleration...
In this paper, we propose observer-based variable structure control (VSC) in microstepping for permanent magnet stepper motors (PMSMs) without position feedback. The back-emfs of the currents dynamics are defined as the disturbance terms. The observers for the back-emf estimation are designed. The proposed observers are in the form of the high pass filter. Observer-based VSC is developed to guarantee...
We present a high gain observer-based nonlinear position control for electro-hydraulic servo systems. We design passivity based control for improve tracking performance. The passivity based control needs the full states information. Since the electro-hydraulic servo system has nonlinearities, we designed a modified high gain observer to estimate its states without the transformation for normal form...
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