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Appl. Sci. 2017, 7(3), 220; doi:10.3390/app7030220

Extended Backstepping Sliding Controller Design for Chattering Attenuation and Its Application for Servo Motor Control

Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan 701, Taiwan
Author to whom correspondence should be addressed.
Academic Editor: Chien-Hung Liu
Received: 12 November 2016 / Revised: 10 February 2017 / Accepted: 14 February 2017 / Published: 27 February 2017
(This article belongs to the Special Issue Selected Papers from the 2016 International Conference on Inventions)
View Full-Text   |   Download PDF [2416 KB, uploaded 27 February 2017]   |  


This paper presents a robust backstepping design for motion control in the presence of model uncertainties and exogenous disturbances. The main difficulty in dealing with motion control is to reduce the effect of friction, which exists in the moving mechanism and induces nonlinear behavior. In this study, the friction dynamic is considered as the external disturbance, and the proposed backstepping control algorithm is integrated with the sliding mode control, so that the effect of matching disturbances can be eliminated. The proposed approach guarantees the system asymptotic stability, globally, without significant chatter. Therefore, the developed algorithm can be realized for practical manufacturing motion control stages. Experiments including positioning and tracking controls are conducted to demonstrate the feasibility of the proposed method. View Full-Text
Keywords: backstepping controller; friction; motion control; sliding mode control backstepping controller; friction; motion control; sliding mode control

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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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Chen, L.-H.; Peng, C.-C. Extended Backstepping Sliding Controller Design for Chattering Attenuation and Its Application for Servo Motor Control. Appl. Sci. 2017, 7, 220.

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