In this paper, we propose a nonlinear position control using only position feedback to guarantee the tolerances for position tracking errors and yaw. In the proposed method, both mechanical and electrical dynamics are considered. The proposed method consists of the nonlinear position controller and nonlinear observer. The nonlinear position controller is designed by a backstepping procedure using the barrier Lyapunov function to satisfy the constraints of position error and yaw. The nonlinear observer is developed to estimate full state using only position feedback. The stability of the closed-loop system is proven using Lyapunov and input-to-state stabilities. Consequently, the proposed method satisfies the constraints of position error and yaw using only position feedback for the planar motor.

中文翻译：

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空气轴承平面电动机在位置误差和偏航约束下仅使用位置反馈的非线性位置控制

在本文中，我们提出了仅使用位置反馈的非线性位置控制，以保证位置跟踪误差和偏航的公差。在提出的方法中，同时考虑了机械和电气动力学。该方法由非线性位置控制器和非线性观测器组成。非线性位置控制器是通过使用障碍Lyapunov函数的反步法设计的，以满足位置误差和偏航的约束。开发非线性观察器以仅使用位置反馈来估计完整状态。使用Lyapunov和输入到状态稳定性证明了闭环系统的稳定性。因此，所提出的方法仅使用平面电动机的位置反馈来满足位置误差和偏航的约束。