Integral backstepping control and experimental implementation for motion system

Abstract

A novel nonlinear controller, backstepping control with integral function, is proposed for high performance motion control systems. Backstepping control utilizes Lyapunov function to guarantee the convergence of the position tracking error from all possible initial conditions. An integral action is integrated in the backstepping design. The added integrator improves the system's robustness against modeling uncertainties and external disturbance, thus improving steady-state control accuracy. The proposed novel scheme has been implemented and tested on an actual industrial product platform. Experimental results and performance comparison confirm that the proposed backstepping control scheme offers significantly improved performance in terms of the trajectory tracking ability to time-varying reference input, system control bandwidth, and robustness against external disturbances.