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Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors

Author

Listed:
  • Wonhee Kim

    (School of Energy Systems Engineering, Chung-Ang University, Seoul 06974, Korea)

  • Donghoon Shin

    (Global R&D Center, MANDO Corporation, Seongnam 463-400, Korea)

  • Youngwoo Lee

    (Department of Electrical Engineering, Chonnam National University, Gwangju 61186, Korea)

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.

Suggested Citation

  • Wonhee Kim & Donghoon Shin & Youngwoo Lee, 2020. "Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors," Mathematics, MDPI, vol. 8(8), pages 1-18, August.
    • Handle: RePEc:gam:jmathe:v:8:y:2020:i:8:p:1354-:d:398380
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    Cited by:

    1. Khac Huan Su & Jaeyun Yim & Wonhee Kim & Youngwoo Lee, 2022. "Lyapunov-Based Controller Using Nonlinear Observer for Planar Motors," Mathematics, MDPI, vol. 10(13), pages 1-18, June.

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