Velocity Control of 2-Mass-Spring Systems with Large Load Uncertainty - An Adaptive Backstepping Control Approach

摘要

In this paper, an adaptive backstepping control system is proposed for a 2-mass-spring system having large load uncertainty. The purpose is to construct a control system that is able to adapt to a wide range of loads without on site tuning and significant performance deterioration. Theoretically the global asymptotic tracking of step reference is guaranteed for arbitrarily large load uncertainty. It is verified in simulations that the response speed slows down as the load inertia moment increases or the shaft becomes less stiff. However, no serious vibration is observed.