Randy A. Freeman, P.V. Kokotović · Birkhäuser Boston eBooks · 2008
Thus far our path has brought us to a base camp at which the design of a robustly stabilizing control law appears deceptively simple. All we need to do is find a robust control Lyapunov function (rclf); the remaining task of selecting a control law to make the Lyapunov derivative negative is straightforward. As we demonstrated in Chapter 4, explicit formulas are available for control laws which are optimal with respect to meaningful cost functionals.
Cited by 1
Jing Zhou, Changyun Wen · The electrical engineering handbook/Electrical engineering handbook series/Electrical engineering handbook · 2011
Cited by 3
Nardênio Almeida Martins, Douglas Wildgrube Bertol · Studies in systems, decision and control · 2021
Cited by 1Open access
Mohammed R. Junaid, Laila M. Beebi, C R Ashima · 2015
Robotic arm is extensively used in applications that requires high precision and accuracy such as biomedical and laser treatments. Backstepping and adaptive backstepping are implemented on the system. In this paper, the parameters of the robotic arm are assumed to be initially unknown. They can be estimated by using the adaptive backstepping mechanism design. Simulation results are presented to show the performance of the backstepping and adaptive backstepping control.
Cited by 7
Ali J. Koshkouei, Russell E. Mills, A.S.I. Zinober · Lecture notes in control and information sciences · 2007
Cited by 11
erqqaaovaq · Zenodo (CERN European Organization for Nuclear Research) · 2024
<pre><code>\n<p><strong>backstepping control pdf</strong><br></p>\n<p>Rating: 4.6 / 5 (1865 votes)<br></p>\n<p>Downloads: 23734<br><br></p>\n <p>= = = = = \n<strong><a href="https://calendario2023.es/21Nr9y?keyword=backstepping control pdf" target="_blank">CLICK HERE TO DOWNLOAD</a></strong>\n = = = = = <br><br></p>\n<p><br><br><br><br></p>\n<p><br><br><br><br></p>\n<p><br><br>In this thesis a controller based on back-stepping will be developed and evaluated in order obtain an understanding of the possibilities of utilizing the backstepping method when controlling the choke pressure Citations. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize Backstepping is used for output stabilization or tracking using feedback similarly to feedback linearization. In this thesis a controller based on back-stepping will be developed and evaluated in order obtain an understanding of the Backstepping Non-linear systems use specific theories and methods to ensure stability without regard to the inner dynamics of the system. Book. Full (x1, x2, x¯ 3,x) system: (x1, x2, x¯ 3) subsystem x¯x˙= ka MbA x +A x¯The x-subsystem is an asymptotically stable linear system to be controlled with a backstepping control design. Recursive design in this book is composed of some simple basic steps. Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume)) Contents. Nonsmooth Nonlinearities, Interactions or Time-Variations. Authors: Jing Zhou, Changyun Wen Micro-Quadrotor is one of the most popular VTOL (Vertical Take-Off and Landing) aerial robots and has enormous potential applications in the field of near-area surveillance and exploration in military and commercial applications. η˙ = f(η)+g(η)ξ ξ˙ = u, η ∈ Rn, ξ, u ∈ R Stabilize the origin using state feedback View ξ as "virtual" control input to η˙ = f(η)+g(η)ξ Suppose there is ξ = φ(η) that stabilizes the to be controlled with a backstepping control design. The backstepping controller design methodology provides an effective tool of designing controllers for a large class of nonlinear systems with a triangular structure Adaptive Backstepping Control of Uncertain Systems. In feedback linearization the stabilizing controller is designed entirely for a virtual input which is then mapped back to the physical input by completely canceling nonlinearities. Home. Recursive design in this book is Introduction. A nonlinear PID-based antagonistic controller for positioning problems on PAMs has been designed in [] This paper considers the backstepping design of state feedback controllers for coupled In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume)) Contents. The algorithms follow a systematic procedure for the design of adaptive control laws for the output of observable , · The backstepping design of state feedback controllers for coupled linear parabolic partial integro-differential equations (PIDEs) of Volterra-type with distinct diffusion coefficients, spatially varying parameters and mixed boundary conditions is considered. They are referred to as "backstepping designs" because they step back toward the control input starting with a scalar equation Download chapter PDFIntroduction. However, stabilizing and position control of the robot are difficult tasks because of the nonlinear dynamic behavior and Adaptive backstepping algorithms for a class of nonlinear continuous uncertain processes with disturbances are considered. We also state some basic results for active backstepping control method Backstepping Control Design LabIntroduction: In control theory, Backstepping is a technique developed circa by Petar V. Kokotovic and others for designing stabilizing controls for a special class of nonlinear dynamical systems Two steps of backstepping starting with the virtual control law: The stiff nonlinearity k 1xprevents large excursions of xa1(x1) = c1x1 k1xwill stabilize the (x1, x2, x¯ 3) subsystem. In this chapter, we describe an introduction to backstepping control with some basic examples and simulations. In backstepping the system is The robust backstepping control method is an effective backstepping technique for control systems with uncertainties. Backstepping and Integrator AccessesCitations. Sliding mode control using a combined adaptive backstepping sliding mode control algorithm is also studied. With the development of PAMs, control method for mechanisms of PAMs has been studied in more depth.</p></code></pre>
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Jay A. Farrell, Marios M. Polycarpou, M. K. Sharma et al. · IEEE Transactions on Automatic Control · 2009
Implementation of backstepping becomes increasingly complex as the order of the system increases. This increasing complexity is mainly driven by the need to compute command derivatives at each step of the design, with the ultimate step requiring derivatives of the same order as the plant. This article addresses a modification that obviates the need to compute analytic derivatives by introducing command filters in the backstepping design. While the concept of the command filter has previously been introduced in the literature, the main contribution of this technical note is the rigorous analysis of the effect of the command filter on closed-loop stability and performance, and a proof of stability based on Tikhonov's theorem. The implementation approach includes a compensated tracking error that retains the standard stability properties of backstepping approaches.
Cited by 1,197
Wouter Falkena, Clark Borst, E. R. van Oort et al. · Journal of Guidance Control and Dynamics · 2013
Cited by 23
erqqaaovaq · Zenodo (CERN European Organization for Nuclear Research) · 2024
backstepping control pdf Rating: 4.6 / 5 (1865 votes) Downloads: 23734 = = = = = CLICK HERE TO DOWNLOAD = = = = = In this thesis a controller based on back-stepping will be developed and evaluated in order obtain an understanding of the possibilities of utilizing the backstepping method when controlling the choke pressure Citations. Due to the underactuated property of the quadrotor helicopter, the controller can move three positions (x;y; z) of the helicopter and the yaw angle to their desired values and stabilize Backstepping is used for output stabilization or tracking using feedback similarly to feedback linearization. In this thesis a controller based on back-stepping will be developed and evaluated in order obtain an understanding of the Backstepping Non-linear systems use specific theories and methods to ensure stability without regard to the inner dynamics of the system. Book. Full (x1, x2, x¯ 3,x) system: (x1, x2, x¯ 3) subsystem x¯x˙= ka MbA x +A x¯The x-subsystem is an asymptotically stable linear system to be controlled with a backstepping control design. Recursive design in this book is composed of some simple basic steps. Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume)) Contents. Nonsmooth Nonlinearities, Interactions or Time-Variations. Authors: Jing Zhou, Changyun Wen Micro-Quadrotor is one of the most popular VTOL (Vertical Take-Off and Landing) aerial robots and has enormous potential applications in the field of near-area surveillance and exploration in military and commercial applications. η˙ = f(η)+g(η)ξ ξ˙ = u, η ∈ Rn, ξ, u ∈ R Stabilize the origin using state feedback View ξ as "virtual" control input to η˙ = f(η)+g(η)ξ Suppose there is ξ = φ(η) that stabilizes the to be controlled with a backstepping control design. The backstepping controller design methodology provides an effective tool of designing controllers for a large class of nonlinear systems with a triangular structure Adaptive Backstepping Control of Uncertain Systems. In feedback linearization the stabilizing controller is designed entirely for a virtual input which is then mapped back to the physical input by completely canceling nonlinearities. Home. Recursive design in this book is Introduction. A nonlinear PID-based antagonistic controller for positioning problems on PAMs has been designed in [] This paper considers the backstepping design of state feedback controllers for coupled In this paper we present a new design method for the fight control of an autonomous quadrotor helicopter based on fuzzy sliding mode control using backstepping approach. Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume)) Contents. The algorithms follow a systematic procedure for the design of adaptive control laws for the output of observable , · The backstepping design of state feedback controllers for coupled linear parabolic partial integro-differential equations (PIDEs) of Volterra-type with distinct diffusion coefficients, spatially varying parameters and mixed boundary conditions is considered. They are referred to as "backstepping designs" because they step back toward the control input starting with a scalar equation Download chapter PDFIntroduction. However, stabilizing and position control of the robot are difficult tasks because of the nonlinear dynamic behavior and Adaptive backstepping algorithms for a class of nonlinear continuous uncertain processes with disturbances are considered. We also state some basic results for active backstepping control method Backstepping Control Design LabIntroduction: In control theory, Backstepping is a technique developed circa by Petar V. Kokotovic and others for designing stabilizing controls for a special class of nonlinear dynamical systems Two steps of backstepping starting with the virtual control law: The stiff nonlinearity k 1xprevents large excursions of xa1(x1) = c1x1 k1xwill stabilize the (x1, x2, x¯ 3) subsystem. In this chapter, we describe an introduction to backstepping control with some basic examples and simulations. In backstepping the system is The robust backstepping control method is an effective backstepping technique for control systems with uncertainties. Backstepping and Integrator AccessesCitations. Sliding mode control using a combined adaptive backstepping sliding mode control algorithm is also studied. With the development of PAMs, control method for mechanisms of PAMs has been studied in more depth.
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Jay A. Farrell, Marios M. Polycarpou, Manu Sharma et al. · 2008
This article presents and analyzes a novel back-stepping feedback control implementation approach. In practical applications, implementation of the backstepping approach becomes increasingly complex as the state order increases. The main complicating factor is computation of the command derivatives. This article presents a filtering approach that significantly simplifies the backstepping implementation, analyzes the effect of the command filtering, and derives a compensated tracking error that retains the standard stability properties of backstepping approaches.
Cited by 55
Houssam Eddine Ghadbane · International Journal of Advanced Natural Sciences and Engineering Researches · 2023
Electric vehicles (EVs) have gained immense popularity as a sustainable mode of transportation, and the choice of the electric machine greatly influences their performance and efficiency. This abstract discusses the application of Integral-Backstepping Control (IBC) to enhance the control of Electric Vehicles equipped with Synchronous Reluctance Machines (SynRM). SynRM presents itself as a promising alternative to traditional permanent magnet synchronous machines due to its simpler construction, cost-effectiveness, and robustness. The proposed Backstepping Control approach employs a systematic Lyapunov-based design to guarantee stability and performance improvements. It takes into account various EV operating conditions, including regenerative braking, acceleration, and deceleration. The controller aims to provide precise control of the SynRM to optimize energy usage and improve overall driving experience. Simulations result demonstrate the effectiveness of Backstepping Control for SynRM-based EVs. The controller achieves enhanced tracking performance, improved torque response, and increased energy efficiency compared to traditional control methods. Furthermore, it exhibits robustness to parameter variations and disturbances commonly encountered in real-world driving scenarios.
Cited by 0Open access
Martin Bergene Johansen · Duo Research Archive (University of Oslo) · 2017
In the field of oil drilling there is a concept known as Managed Pressure Drilling. In Managed Pressure Drilling one relies on pumps in combination with chokes (valves) in order to maintain a certain pressure at the bottom of the well. It is crucial to maintain this pressure since too low pressure may cause the well to collapse and too high pressure may cause the well to fracture, making it more susceptible for a collapse. The pressure at the bottom of the well is mainly controlled by a choke. \n\nIn this thesis controllers based on backstepping theory will be developed in order to control the choke pressure. The controllers will be designed such that the choke pressure will track a reference value and the controllers will achieve this by adjusting the choke's angular velocity. It is also common that certain parameters in the well are unknown due to changes that occur in the fluid running through the choke. Because of this, adaptive integrator backstepping controllers will also be developed. The goal for this project is to obtain an understanding of how well controllers based on integrator backstepping and adaptive integrator backstepping can solve this task.\n\nIntegrator backstepping controllers are useful when designing controllers for systems on cascade form of order 2 or higher, however, the complexity of these controllers increases significantly as the order of the system increases. Because of this, two different design models have been used in this thesis in order to develop controllers based on integrator backstepping. One is of 2nd order and the other is of 3rd order. The 2nd order design model describes how the pressure changes according to the flow in and out of the choke. The flow out of the choke depends on the choke opening and the choke opening changes based on the angular velocity of the choke. The 3rd order design model is an extension of the 2nd order design model. The 3rd order model also describes the actuator dynamics in the choke which will provide a better representation on how the angular velocity affects the choke position.\n\nA controller was first developed for the 2nd order system. If the controller behaved well, a new controller would be developed for the 3rd order system. In order to verify the performance of the controllers, they were simulated in common scenarios that occur during drilling. Controllers that performed well during these simulations went through further testing by performing simulations with Straume, a high-end multiphase well simulator. Straume provides a better representation of a real life drilling scenario and serves as a benchmark for the controllers validation. In addition to the common scenarios, the simulations in Straume also cover how wrong parameterization of the often unknown parameters affects the controllers performance.\n\nA regular integrator backstepping controller was developed for the 2nd order system. This controller performed well during the simulation and thus a controller for the 3rd order system was developed. The 3rd order controller also performed well during simulations. The adaptive controller developed for the 2nd order system performed badly during simulations and a 3rd order adaptive controller was not developed.\n\nThe regular integrator backstepping controllers went through further testing by simulating them with Straume. Both controllers performed well, but both experienced a constant offset between the reference value and the choke pressure. The controllers also experienced a drop in performance when the parametrization of the bulk modulus did not match the bulk modulus in Straume. These controllers performed well enough for them to be used further as long as one is aware of their shortcomings.
Cited by 1Open access
ZeFang He, Long Zhao, Long Zhao · 2016 IEEE Information Technology, Networking, Electronic and Automation Control Conference · 2016
This paper presents a design method of robust nonlinear controller with inner-outer loop structure (robust chattering free backstepping/backstepping sliding mode controller). Because backstepping control and sliding mode control are in nature two different robust controllers, the combination of them brings up a controller which has stronger robustness for synthesizing their advantages. In this paper, the chattering of backstepping sliding mode controller can be effectively prevented by substituting sign function of the sliding mode exponential approaching rate with a simple saturation function. The controller adopts inner-outer loop control structure. The inner loop is used to stabilize attitude by adopting backstepping sliding mode controller. The outer loop is used to track position by adopting backstepping controller. Simulation results show that the control strategy proposed in this paper is effective and has strong robustness in the presence of aerodynamic torque disturbance and parameter uncertainty.
Cited by 10
Mayyasah Ali Salman, Saleem Khalefa Kadhim · Iraqi Journal of Computer Communication Control and System Engineering · 2023
The lower limb amputees are increasing day by day. This has led to an increase in research in the field of prosthetic knee. In this work, a prosthetic knee was designed and developed to assist human movements and more quality of life for millions of individuals who have lost lower limbs. The dynamic model and parameter identification of a two degree of freedom (2-DOF) joint prosthetic knee is derived according to the Lagrangian dynamic approach. The two controllers Backstepping and Adaptive Backstepping are adopted to control the system. Stability analysis and controller design dependent on Lyapunov theory are assessed to prove a tracking of a desired trajectory. From the results, found that the quantitative comparison between the two controllers, showed significant improvement in results in position tracking. To comparison between Backstepping control and Adaptive Backstepping control, at the control action consumptions. It was found that the position error of the prosthetic knee in Backstepping control is by 9% at link 1 (thigh) and 7.4% at link 2 (shank) compared with desired trajectory, while in Adaptive Backstepping control is by 1.16% at link 1 and 1.65% at link 2 compared with desired trajectory. When comparing between Backstepping control and Adaptive Backstepping control, the improvement rate was 7.84 at link 1 and 5.75 at link 2 , the proposed Adaptive Backstepping control, it may be concluded, is more robust against this perturbation and to deal with uncertainty. Therefore, the controller is built in a MATLAB environment, and its performance and robustness are assessed. Index Terms— Prosthetic knee, Backstepping control, Adaptive Backstepping control, Lyapunov theory.
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Suresh Rasappan (20135850), Sathish Kumar Kumaravel (20135853), Aceng Sambas (12407551) et al. · Figshare · 2024
<div><p>In this study, the chaotic behavior of a second-order circuit comprising a nonlinear resistor and Chua’s diode is investigated. This circuit, which includes a nonlinear capacitor and resistor among its components, is considered one of the simplest nonautonomous circuits. The research explores various oscillator characteristics, emphasizing their chaotic properties through bifurcations, Lyapunov exponents, periodicity, local Lyapunov region, and resonance. The system exhibits both stable equilibrium points and a chaotic attractor. Additionally, the second objective of this study is to develop a novel cryptographic technique by incorporating the designed circuit into the S-box method. The evaluation results suggest that this approach is suitable for secure cryptographic applications, providing insights into constructing a cryptosystem for images and text based on its complex behavior. Real-life data were analyzed using various statistical and performance criteria after applying the proposed methodology. These findings enhance the reliability of the cryptosystems. Moreover, The proposed methods are assessed using a range of statistical and performance metrics after testing the text and images. The cryptographic results are compared with existing techniques, reinforcing both the developed cryptosystem and the performance analysis of the chaotic circuit.</p></div>
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Herbert G. Tanner, Kostas J. Kyriakopoulos · Automatica · 2003
Cited by 92Open access
Frédéric Mazenc, Abderrahman Iggidr · Systems & Control Letters · 2003
Cited by 66Open access
Sun Gyo Lim, Bong-Seok Kim · Zenodo (CERN European Organization for Nuclear Research) · 2011
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.
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Ramón García-Hernández, Michel López-Franco, Edgar N. Sánchez et al. · Studies in systems, decision and control · 2017
Cited by 0
Han-Dong Lim, Donghwan Lee · arXiv (Cornell University) · 2023
Off-policy learning ability is an important feature of reinforcement learning (RL) for practical applications. However, even one of the most elementary RL algorithms, temporal-difference (TD) learning, is known to suffer form divergence issue when the off-policy scheme is used together with linear function approximation. To overcome the divergent behavior, several off-policy TD-learning algorithms, including gradient-TD learning (GTD), and TD-learning with correction (TDC), have been developed until now. In this work, we provide a unified view of such algorithms from a purely control-theoretic perspective, and propose a new convergent algorithm. Our method relies on the backstepping technique, which is widely used in nonlinear control theory. Finally, convergence of the proposed algorithm is experimentally verified in environments where the standard TD-learning is known to be unstable.
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