Adaptive backstepping motion control of induction motor drives

Shir-Kuan Lin, Chih Hsing Fang*

*Corresponding author for this work

Research output: Contribution to journalArticle

2 Scopus citations


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.


  • Adaptive backstepping control
  • Induction motor
  • Sliding-mode control

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