Observer Backstepping for Nonlinear Drive Control

Roemi Fernández, Anders Robertsson, Rolf Johansson, Teodor Akinfiev, Manuel Armada

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingResearchpeer-review


This paper addresses the control problem of a specially designed nonlinear actuator intended for use in legged robots and other related mechatronic devices. Use of this drive could considerably increase energy efficiency and the time of autonomous robot operation. Nevertheless, the highly nonlinear model of the actuator and the unavailability of part of the state for measurement pose considerable challenges to the control system design. The proposed control solution utilizes the observer-based backstepping algorithm to produce a nonlinear controller that ensures asymptotic tracking of the desired law
of motion. Experimental results with friction compensation are presented to show the effectiveness and feasibility of the proposed nonlinear control method.
Original languageEnglish
Title of host publicationProc. 45th IEEE Conf. Decision & Control (CDC2006)
Number of pages6
Publication statusPublished - 2006
Event45th IEEE Conference on Decision and Control, 2006 - San Diego, CA, San Diego, CA, United States
Duration: 2006 Dec 132006 Dec 15
Conference number: 45


Conference45th IEEE Conference on Decision and Control, 2006
Country/TerritoryUnited States
CitySan Diego, CA

Subject classification (UKÄ)

  • Control Engineering


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