Adaptive Nonlinear Backstepping Control

This paper presents an adaptive nonlinear position controller with velocity constraint, capable of combining the input-output linearization technique and Lyapunov stability theory. Based on the Lyapunov stability theory, the adaptation law of the proposed controller is derived along with the verification of the overall system-s stability. Computer simulation results demonstrate that the proposed controller is robust and it can ensure transient stability of BLDCM, under the occurrence of a large sudden fault.

Authors:

• Sun Lim
• Bong-Seok Kim

Keywords:

• BLDC Motor Control
• Backstepping Control
• Adaptive nonlinear control

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