Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors
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...
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-08-01
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| Series: | Mathematics |
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| Online Access: | https://www.mdpi.com/2227-7390/8/8/1354 |
| _version_ | 1797558430019354624 |
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| author | Wonhee Kim Donghoon Shin Youngwoo Lee |
| author_facet | Wonhee Kim Donghoon Shin Youngwoo Lee |
| author_sort | Wonhee Kim |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-10T17:31:19Z |
| format | Article |
| id | doaj.art-1fa70f671f3945b1b021b41b4d63597a |
| institution | Directory Open Access Journal |
| issn | 2227-7390 |
| language | English |
| last_indexed | 2024-03-10T17:31:19Z |
| publishDate | 2020-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Mathematics |
| spelling | doaj.art-1fa70f671f3945b1b021b41b4d63597a2023-11-20T10:00:17ZengMDPI AGMathematics2227-73902020-08-0188135410.3390/math8081354Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar MotorsWonhee Kim0Donghoon Shin1Youngwoo Lee2School of Energy Systems Engineering, Chung-Ang University, Seoul 06974, KoreaGlobal R&D Center, MANDO Corporation, Seongnam 463-400, KoreaDepartment of Electrical Engineering, Chonnam National University, Gwangju 61186, KoreaIn 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.https://www.mdpi.com/2227-7390/8/8/1354planar motorposition controlobserver |
| spellingShingle | Wonhee Kim Donghoon Shin Youngwoo Lee Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors Mathematics planar motor position control observer |
| title | Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors |
| title_full | Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors |
| title_fullStr | Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors |
| title_full_unstemmed | Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors |
| title_short | Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors |
| title_sort | nonlinear position control using only position feedback under position errors and yaw constraints for air bearing planar motors |
| topic | planar motor position control observer |
| url | https://www.mdpi.com/2227-7390/8/8/1354 |
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