Automated load-shifting electric drive using switched model and adaptive backstepping control

Abstract

An adaptive tracking controller is designed for an automated electric drive machine for shifting loads by making use of switched system models. Firstly, the model of load-shifting motor is transformed into a switched nonlinear system, and then via an adequate lower-triangular nonlinear system the general form in a class of switched nonlinear systems is found. Thereafter, common virtual controller is designed by means of the backstepping methodology in order to handle possible disunity of subsystems while load transitions happen. On these grounds, an adaptive controller is obtained for drive motor to satisfy the goal of control tracking the desired trajectory while shifting loads. In order to guarantee the asymptotic tracking performance under arbitrary switched load-shifting Lyapunov stability analysis of the proposed nonlinear switching control system is carried out under assumption of arbitrary switching signals. Finally, the actual performance such automated motor drive is illustrated by means of simulations samples given in this paper.