Backstepping-based model reference adaptive controller for a multi-axial system in the presence of external disturbance and saturated input

Duong, Van Tu; Nguyen, Huy Hung; Jeong, Jae Hoon; Kim, Hak Kyeong

doi:10.1177/0142331216673696

Cited by 2 publications

(3 citation statements)

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“…This article extends the results of a previous article 25, 26 and improves a cross-coupling synchronous velocity controller using a backstepping-based model reference adaptive control (BS-MRAC) scheme in a transformer winding system. Unlike, 25 in this article, the proposed controller combines a backstepping technique and an MRAC method to estimate unmeasurable parameters of a recursive structure of a transformer winding system with two axes.…”

Section: Introductionsupporting

confidence: 65%

“…where E 0 , Z 0 are the threshold constant values of the dead-zone modification which are defined by Duong et al 26 The proof of equations (23)–(26) is located in Duong et al 26 and implementation of the proposed algorithm on a microcontroller is shown in Appendix 2.…”

Section: Controller Designmentioning

confidence: 99%

“…Unlike, 25 in this article, the proposed controller combines a backstepping technique and an MRAC method to estimate unmeasurable parameters of a recursive structure of a transformer winding system with two axes. In addition, a cross-coupling mechanism incorporates BS-MRAC to minimize a synchronous velocity error between WSS and NFDS, whereas Duong et al 26 did not deal with this issue. The contribution of the proposed controller compared to existing BS-MRAC 27–29 is that a virtual control input is designed involving the derivative term of the reference input vector and a synchronous rotational velocity error to make the response outputs tracking better the reference input vector in trapezoidal type and reducing the synchronous rotational velocity error.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Cross-coupling synchronous velocity control using model reference adaptive control scheme in an unsymmetrical biaxial winding system

Nguyen

Duong

Kim

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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Motion control with high accuracy for each axial system is the fundamental requirement to reduce a synchronous motion error of a multi-axis system. Especially, designing a model-based controller for an uncertainty system with unknown parameters is not easy without using system identification. To overcome the mentioned issue, this article proposes a cross-coupling synchronous velocity controller using a backstepping-based model reference adaptive control scheme in an unsymmetrical biaxial winding system called a transformer winding system. The proposed controller deals not only with the uncertainty but also with the recursive structure of the system. The backstepping technique for the recursive structural system and the model reference adaptive control method for the uncertainty of the system are designed to stabilize two axial systems with unknown parameters. An auxiliary system is added to build the proposed controller for coping with input constraints of physical actuators. To improve the proposed controller's ability to cope with external disturbances, a dead-zone modification is utilized to modify the adaptation laws to avoid the drift phenomenon. Moreover, a cross-coupling mechanism is integrated into the proposed controller to reduce the synchronous velocity error between the velocities of the biaxial winding system. The proposed controller is also transformed into discrete time to be run on a digital signal processor alone chip. The experimental results are shown to verify the high performance and efficiency of the proposed controller for practical applications.

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Section: Introductionsupporting

confidence: 65%