In this paper, an adaptive backstepping controller is proposed for position tracking of a mechanical system driven by an induction motor. The mechanical system is a single link fixed on the shaft of the induction motor such as a single-link robot. The backstepping methodology provides a simpler design procedure for an adaptive control scheme and provides a method to define the sliding surface if the robust slidingmode control is applied. Thus, the backstepping control can be easily extended to work as an adaptive sliding-mode controller. The presented position control system is shown to be stable and robust to parameter variations and external disturbances. The effectiveness of the proposed controllers is demonstrated in experiments.
|Number of pages||6|
|Journal||Journal of the Chinese Institute of Engineers, Transactions of the Chinese Institute of Engineers,Series A/Chung-kuo Kung Ch'eng Hsuch K'an|
|State||Published - 1 Jan 2004|
- Adaptive backstepping control
- Induction motor
- Sliding-mode control