Adaptive Fuzzy Backstepping Dynamic Surface Control for Output-constrained Non-smooth Nonlinear Dynamic System

한성익,이장명 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.4

Output-constrained backstepping dynamic surface control (DSC) is proposed for the purpose of output constraint and precise output positioning of a strict feedback single-input, single-output dynamic system in the presence of deadzone and uncertainty. A symmetric barrier Lyapunov function (BLF) is employed to meet the output constraint requirement using DSC as an alternative method of backstepping control that is adopted mainly to deal with the BLF’s constraint control. However, using the ordinary DSC method with the BLF limits the selection of the control gain whereas this limitation does not exist in the backstepping structure. To remove this limitation, we propose a partial backstep-ping DSC method in which backstepping control is added only in the first recursive DSC design step. For precise positioning, an inverse deadzone method and adaptive fuzzy system are introduced to handle unknown deadzone and unmodeled nonlinear functions. We show that the semiglobal boundedness of the overall closed-loop signals is guaranteed, the tracking error converges within the prescribed region, and precise positioning performance is ensured. The proposed control scheme is experimentally evaluated using a robot manipulator.

UAV Control System Design Using Backstepping-Sliding Mode Controller

( Jong-ho Han ),( Myeong-hwan Hwang ),( Dong-hyun Kim ),( Gye-seong Lee ),( Hyun-ro Cha ) 조선대학교 공학기술연구원 2018 공학기술논문지 Vol.11 No.3

This paper presents a backstepping sliding mode controller for UAV(unmanned aerial vehicles) to implement the attitude and position tracking control. First, dynamic model is introduced for the UAV. The Newton-Euler method has been used to derive the defining equations of motion of the six-degree system. The method was obtained by modelling the kinetic and potential energy of the system and the external forces obtained from the aerodynamic analysis. Secondly, the backstepping sliding mode controller is proposed to develop the attitude and position control system for the UAV system and the system was conducted by Matlab/Simulink. Comparative simulation results with other control systems such as backstepping and sliding mode controller and the proposed control scheme show the efficiency of other control systems.

Backstepping-Based Control of a Strapdown Boatboard Camera Stabilizer

Peyman Setoodeh,Alireza Khayatian,Ebrahim Farjah 대한전기학회 2007 International Journal of Control, Automation, and Vol.5 No.1

In surveillance, monitoring, and target tracking operations, high-resolution images should be obtained even if the target is in a far distance. Frequent movements of vehicles such as boats degrade the image quality of onboard camera systems. Therefore, stabilizer mechanisms are required to stabilize the line of sight of boatboard camera systems against boat movements. This paper addresses design and implementation of a strapdown boatboard camera stabilizer. A two degree of freedom (DOF) (pan/tilt) robot performs the stabilization task. The main problem is divided into two subproblems dealing with attitude estimation and attitude control. It is assumed that exact estimate of the boat movement is available from an attitude estimation system. Estimates obtained in this way are carefully transformed to robot coordinate frame to provide desired trajectories, which should be tracked by the robot to compensate for the boat movements. Such a practical robotic system includes actuators with fast dynamics (electrical dynamics) and has more degrees of freedom than control inputs. Backstepping method is employed to deal with this problem by extending the control effectiveness.

State Observer-Based Backstepping Terminal Sliding Mode Control for Rectangular Robot Systems

Inseok-Seo,Hyunjae-Ryu,Seongik-Han 한국생산제조학회 2018 한국생산제조학회지 Vol.27 No.2

This study focuses on the fast state estimation of unmeasured state variable and uncertainty by using super-twisting state observer and adaptive law, and the design of a backstepping-based terminal sliding mode controller for rectangular robot systems. Introducing a super-twisting state observer can estimate unmeasured velocity information more rapidly than a conventional high-gain state observer. A backstepping controller with super-twisting observer is combined with a terminal sliding mode control scheme, which demonstrates faster error convergence performance than conventional backstepping sliding mode control. This estimation law, combined with the robustness of the controller for unknown states and dynamics, results in outstanding control performance when compared to conventional model-based computed torque control methods. The stability of the proposed control system was verified by using the Lyapunov-candidate-function. Comparative simulation and experimental results for the two-axis rectangular robot system demonstrate the efficacy of the proposed control scheme.

UAV Control System Design Using Backstepping-Sliding Mode Controller

한종호,황명환,김동현,이계성,차현록 조선대학교 공학기술연구원 2018 공학기술논문지 Vol.11 No.3

This paper presents a backstepping sliding mode controller for UAV(unmanned aerial vehicles) to implement the attitude and position tracking control. First, dynamic model is introduced for the UAV. The Newton-Euler method has been used to derive the defining equations of motion of the six-degree system. The method was obtained by modelling the kinetic and potential energy of the system and the external forces obtained from the aerodynamic analysis. Secondly, the backstepping sliding mode controller is proposed to develop the attitude and position control system for the UAV system and the system was conducted by Matlab/Simulink. Comparative simulation results with other control systems such as backstepping and sliding mode controller and the proposed control scheme show the efficiency of other control systems.

크기 및 변화율 제한을 갖는 비선형 시스템의 제어

이정국,이금원,이준모 한국융합신호처리학회 2007 융합신호처리학회 논문지 (JISPS) Vol.7 No.2

This paper deals with a controller design for a 2 dimensional aeroelatic model which has unknown parameters including polynomial type nonlinearity. Actually in case of state and acuator signal having magnitude, rate and bandwidth limitations, the controller can't be implemented and so in each case, a filter is used for implementation.. First, error signals are defined upon the backstepping theory, and tracking error signals are also defined due to command signal and filter signals and then compensated tracking error signals are defined. Lastly, a Lyapunov function is defined for the stabilization and from this method, an adaptive law is derived. Simulations are done for the demonstrtion of the effectiveness of the algorithms. 본 논문에서는 다항식형태의 비선형성을 갖는 미지의 파라미터를 갖는 2차원의 공탄성(aeroelastic) 시스템에 대한 제어기 설계를 다룬다. 특히 제어기구현에 사용되는 상태 및 actuator 구동기신호가 크기, 변화율 및 대역제약조건을 가지는 경우는 실현이 불가능한데, 이 경우에도 각각에 대한 필터를 필터를 사용하여 해결한다. 우선 backstepping에 기초한 오차신호를 정의하고, 명령신호 및 필터출력 신호에 대한 추적오차신호를 정의하며, 필터구성에 따른 보상된 추적오차신호를 재정의한다. 안정화를 위하여 Lyapunov함수를 도입하고, 안정성 원리에 따라 적응식을 유도한다. 시뮬레이션을 통해서 유용성을 입증한다.

Three-dimensional trajectory tracking for underactuated AUVs with bio-inspired velocity regulation

Jiajia Zhou,Dingqi Ye,Junpeng Zhao,Dongxu He 대한조선학회 2018 International Journal of Naval Architecture and Oc Vol.10 No.3

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

Research on DC Component Disturbance Suppression Strategy of Islanded T-Type Three-Level Inverter Based on Improved Backstepping Control Theory

He Guo-Feng,Zhou Zi-Chun,Luo Shuang,Li Gou-Jiao 대한전기학회 2024 Journal of Electrical Engineering & Technology Vol.19 No.3

Aiming at the problem that the DC component in the output voltage of the T-type three-level inverter in the island mode is obvious, due to its hardware diferences, a nonlinear control strategy combining the backstepping method, sliding mode theory, and the principle of the second-order generalized integrator (SOGI) is proposed. Firstly, the DC component in the output voltage of the inverter is regarded as a disturbance, and the mathematical model of the inverter with DC component disturbance is established. Secondly, the detected neutral point potential deviation of the DC side of the inverter is compensated to the modulation signal by proportional–integral (PI) control, to maintain the normal operating state of the three-level inverter. Then, the backstepping-sliding mode controller is constructed to improve the robustness T-type three-level inverter. And the SOGI is utilized to overcome the shortcomings of backstepping control which is easy to amplify the measurement noise and cause diferential explosion. Meanwhile, the stability of the designed controller is analyzed by using the Lyapunov stability principle. Finally, the efectiveness of the proposed control strategy is verifed by 10 kW prototype. The experimental results show that the proposed control strategy can not only efectively suppress the DC component of the inverter output voltage and improve the robustness of the system, but also has fast dynamic characteristics.

Three-dimensional trajectory tracking for underactuated AUVs with bio-inspired velocity regulation

Zhou, Jiajia,Ye, Dingqi,Zhao, Junpeng,He, Dongxu The Society of Naval Architects of Korea 2018 International Journal of Naval Architecture and Oc Vol.10 No.3

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

Identification-based Adaptive Tracking Control of Uncertain Bistable Electromechanical Duffing Oscillator

Suresh Thenozhi,Antonio Concha 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.7

This paper presents a backstepping-based adaptive control design for bistable Duffing-Holmes oscillators. The system parameters are assumed to be uncertain, and the controller uses an adaptation rule to estimate them and to achieve an asymptotic tracking performance. The convergence of the tracking and parameter estimation errors is studied using the Contraction theory. The practical utility of the proposed control scheme is illustrated by applying it to a vibration energy harvester, modeled as a bistable Duffing oscillator, to increase its power level under various external excitations. Moreover, a procedure to increase the harvested energy by reducing the control effort is proposed. Simulation studies are carried out to show the validity and feasibility of the proposed controller.