Artykuły w czasopismach: „Backstepping-based control”

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Benaskeur, A. R., i A. Desbiens. "Backstepping-based adaptive PID control". IEE Proceedings - Control Theory and Applications 149, nr 1 (1.01.2002): 54–59. http://dx.doi.org/10.1049/ip-cta:20020100.

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Tran, Thanh T., i Oscar R. Gonzalez. "Backstepping-based control methodology for aircraft roll dynamics". Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, nr 4 (3.07.2019): 566–74. http://dx.doi.org/10.1177/0959651819860294.

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This article investigates a backstepping-based control method for aircraft roll dynamics. The research starts with a formulation of backstepping control law for a general class of a strict-feedback form of nonlinear dynamic systems. The backstepping control law is formulated by introducing a normal tracking error. Then, control and virtual control inputs are selected by addressing each layer of the design process with a chosen corresponding control Lyapunov function. The parameter assignment in each design layer is selected to ensure the stability of the entire system. Next, a backstepping-based control algorithm with online-gain schedule or variable gains is provided for the standard strict-feedback system. In order to validate the proposed method, application of roll dynamics of aircraft is implemented. Dynamic equations of free-to-roll aircraft model is restructured in a standard strict-feedback model for formulating the backstepping control. Then, a backstepping control–based control strategy is provided for aircraft free-to-roll dynamics. Indoor experimental and simulation studies of roll angle control for the L-59 free-to-roll aircraft model at NASA Langley Research Center are implemented to verify and validate the proposed approach.

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Burlion, L., T. Ahmed-Ali i N. Seube. "Glider's roll control based on backstepping". IFAC Proceedings Volumes 37, nr 10 (lipiec 2004): 161–65. http://dx.doi.org/10.1016/s1474-6670(17)31725-1.

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Su, Qingyu, Fei Dong i Xueqiang Shen. "Improved Adaptive Backstepping Sliding Mode Control of Static Var Compensator". Energies 11, nr 10 (14.10.2018): 2750. http://dx.doi.org/10.3390/en11102750.

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The stability of a single machine infinite bus system with a static var compensator is proposed by an improved adaptive backstepping algorithm, which includes error compensation, sliding mode control and a κ -class function. First, storage functions of the control system are constructed based on modified adaptive backstepping sliding mode control and Lyapunov methods. Then, adaptive backstepping method is used to obtain nonlinear controller and parameter adaptation rate for static var compensator system. The results of simulation show that the improved adaptive backstepping sliding mode variable control based on error compensation is effective. Finally, we get a conclusion that the improved method differs from the traditional adaptive backstepping method. The improved adaptive backstepping sliding mode variable control based on error compensation method preserves effective non-linearities and real-time estimation of parameters, and this method provides effective stability and convergence.

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Li, Mei Hong, Jian Yin, Xue Yang Sun, Jin Xiang Xu i Mei Mei Zhang. "Design of Missile Longitudinal Control System Based on Backstepping Control". Applied Mechanics and Materials 496-500 (styczeń 2014): 1401–6. http://dx.doi.org/10.4028/www.scientific.net/amm.496-500.1401.

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Missile control system is not block strict feedback system which is suitable to use backstepping method. So in this paper, a backstepping control method is proposed to design a missile longitudinal autopilot and is proved to be asymptotically stable by Lyapunov stability theory. The simulation results show that the designed system can still track commands quickly and accurately and is robust with aerodynamic perturbation and control input saturation.

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Shen, Dong Kai, Jing Jing Wang i Zheng Hua Liu. "Robust BackStepping Control Based DRNN for Flight Simulator". Advanced Materials Research 139-141 (październik 2010): 1708–13. http://dx.doi.org/10.4028/www.scientific.net/amr.139-141.1708.

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Flight motion simulator is one kind of servo system with uncertainties and nonlinearities. To acquire higher frequency response and good robustness for the flight simulator, we present a Backstepping controller based on a Diagonal Recurrent Neural Network (DRNN) to work out this problem. For one thing, the design procedure of the robust Backstepping controller is described. Subsequently, the principle and the design steps of DRNN are analyzed and expatiated respectively. In the end, simulation results on the flight motion simulator show that robust backstepping control based on DRNN can compensate for external disturbances and enhance robustness of the system control performance. Therefore both robustness and high performance of the flight motion simulator are achieved.

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Kulkarni, A., i A. Kumar. "Backstepping-based adaptive control for underactuated systems". International Journal of System Control and Information Processing 1, nr 4 (2015): 340. http://dx.doi.org/10.1504/ijscip.2015.075878.

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Kristiansen, R., P. J. Nicklasson i J. T. Gravdahl. "Satellite Attitude Control by Quaternion-Based Backstepping". IEEE Transactions on Control Systems Technology 17, nr 1 (styczeń 2009): 227–32. http://dx.doi.org/10.1109/tcst.2008.924576.

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Falkena, W., C. Borst, E. R. van Oort i Q. P. Chu. "Sensor-Based Backstepping". Journal of Guidance, Control, and Dynamics 36, nr 2 (marzec 2013): 606–10. http://dx.doi.org/10.2514/1.56581.

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Kim, Yeonsoo, Tae Hoon Oh, Taekyoon Park i Jong Min Lee. "Backstepping control integrated with Lyapunov-based model predictive control". Journal of Process Control 73 (styczeń 2019): 137–46. http://dx.doi.org/10.1016/j.jprocont.2018.12.007.

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Yang, Qian, Nan Nan Zhao i Ming Hui Zhang. "Study on PMSM Integral Backstepping Controller Based on RBF Neural Network". Applied Mechanics and Materials 416-417 (wrzesień 2013): 599–605. http://dx.doi.org/10.4028/www.scientific.net/amm.416-417.599.

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In order to eliminate steady-state speed error of PMSM backstepping control system, an integral backstepping speed control algorithm is designed in this paper. By adding speed error integral factor in the speed Lyapunov function, the speed error can finally converge to zero when PMSM operates in steady-state. On this basis, an integral backstepping speed control algorithm based on RBF neural network compensation is proposed for PMSM backstepping control system used for high-altitude electric propulsion system which is vulnerable to load torque variables. The integral backstepping speed controller based on PMSM reference model can ensure global asymptotic convergence of the whole control system. In order to achieve fast robust adaptive control, the RBF neural network is adapted to online compensate dq axis current error produced by the reference speed and load torque changes. Simulink simulation results verify the feasibility of the given algorithm.

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Lian, Cheng Bin, Chen Bai, Zhang Ren i Xing Yue Shao. "Hypersonic Cruise Vehicle Attitude Control Based on NESO". Applied Mechanics and Materials 427-429 (wrzesień 2013): 913–20. http://dx.doi.org/10.4028/www.scientific.net/amm.427-429.913.

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Hypersonic cruise vehicles traverse abroad flight envelope, severe interference and aerodynamic parameters of great uncertainty. Aiming at these problems, the attitude control system is divided into two first-order subsystem based on the backstepping, which improved by introducing the command filter and the error signal correction. simplifies the solution of pseudo control of derivative, and considering the attenuation and noise on the system state. The aerodynamic parameters wide variation range and disturbances were classified into two subsystems uncertainties, and two sets of nonlinear extended state observer (NESO) were used to estimate them. The backstepping controller based on NESO was designed with combined estimated value and backstepping method. Additionally used fuzzy logic to tuning the NESO parameters. Simulation results show that the method can track the control signal accurately, and has good robustness against parameter uncertainty.

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Sun, Xiao, i Zhihang Xie. "Reinforcement Learning-Based Backstepping Control for Container Cranes". Mathematical Problems in Engineering 2020 (19.02.2020): 1–13. http://dx.doi.org/10.1155/2020/2548319.

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A novel backstepping control scheme based on reinforcement fuzzy Q-learning is proposed for the control of container cranes. In this control scheme, the modified backstepping controller can handle the underactuated system of a container crane. Moreover, the gain of the modified backstepping controller is tuned by the reinforcement fuzzy Q-learning mechanism that can automatically search the optimal fuzzy rules to achieve a decrease in the value of the Lyapunov function. The effectiveness of the applied control scheme was verified by a simulation in Matlab, and the performance was also compared with the conventional sliding mode controller aimed at container cranes. The simulation results indicated that the used control scheme could achieve satisfactory performance for step-signal tracking with an uncertain lope length.

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Mbede, Jean Bosco, i Joseph Jean-Baptiste Mvogo Ahanda. "Exponential Tracking Control Using Backstepping Approach for Voltage-Based Control of a Flexible Joint Electrically Driven Robot". Journal of Robotics 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/241548.

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This paper addresses the design of exponential tracking control using backstepping approach for voltage-based control of a flexible joint electrically driven robot (EFJR), to cope with the difficulty introduced by the cascade structure in EFJR dynamic model, to deal with flexibility in joints, and to ensure fast tracking performance. Backstepping approach is used to ensure global asymptotic stability and its common algorithm is modified such that the link position and velocity errors converge to zero exponentially fast. In contrast with the other backstepping controller for electrically driven flexible joint robot manipulators control problem, the proposed controller is robust with respect to stiffness uncertainty and allows tracking fast motions. Simulation results are presented for both single link flexible joint electrically driven manipulator and 2-DOF flexible joint electrically driven robot manipulator. These simulations show very satisfactory tracking performances and the superiority of the proposed controller to those performed in the literature using simple backstepping methodology.

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Alshamali, Saleh, i Elham Aljuwaiser. "Design of Robust Observer-Based Backstepping Control for a Satellite Control System". Mathematical Problems in Engineering 2019 (26.05.2019): 1–9. http://dx.doi.org/10.1155/2019/7412194.

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This paper presents the attitude tracking of a class of satellite control systems under external disturbances. Once the error dynamics of the satellite are obtained, a nonlinear transformation expresses them in a suitable representation for the design of a high-gain observer and backstepping control. The observer-based backstepping controller is then designed to drive the angles of the satellite dynamics to their desired values in the presence of exogenous disturbances. Closed-loop stability of the proposed controller is demonstrated via Lyapunov theory, and its effectiveness is confirmed through numerical simulations.

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Hu, Pei, Guo Liang Cai, Lan Yao i Xiu Lei Fang. "Recursive Backstepping Nonlinear Control and Sliding Mode Control of a Novel Hyperchaotic Finance System". Advanced Materials Research 756-759 (wrzesień 2013): 775–80. http://dx.doi.org/10.4028/www.scientific.net/amr.756-759.775.

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In this paper, the recursive backstepping nonlinear control method is proposed. Based on the Lyapunov theory, the controllers are designed to achieve the new hyperchaotic system globally, asymptotically stabilized at the equilibrium point. Furthermore, a robust control method combining backstepping and sliding mode control techniques is used to control the system to another equilibrium point. Numerical simulation results show that the proposed control schemes are effective.

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Cui, Yuwei, Aijun Li, Biao Duan i Shabbir Wasif. "Reconfiguration Control Design of UAV against Actuator Faults Based on Control Allocation Method". International Journal of Aerospace Engineering 2022 (28.05.2022): 1–14. http://dx.doi.org/10.1155/2022/4481553.

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The paper concentrates on the problem of fault-tolerant control of UAV against actuator faults from the perspective of flight control system architecture. Using backstepping control method and inverse optimization theory, the design of backstepping optimal control law was constructed. Based on the fault monitoring mechanism of vehicle management computer in the distributed flight control and control allocation system, a fault-tolerant control design method was established in the case of multiple failure modes of the actuators, which compensates the influence caused by the failures. Finally, the effectiveness of the proposed strategy was verified by numerical simulation.

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Fang, Yunmei, i Juntao Fei. "Adaptive Backstepping Current Control of Active Power Filter Using Neural Compensator". Mathematical Problems in Engineering 2019 (16.05.2019): 1–9. http://dx.doi.org/10.1155/2019/5130738.

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A backstepping-based adaptive controller with neural compensator is designed for harmonic suppression in a three-phase active power filter (APF). The fundamental rule of backstepping method is to take some state variables as “virtual controls” and then design intermediate controller. An adaptive neural controller using radial basis function (RBF) is derived to estimate the APF system nonlinearity and strengthen the current’s tracking property and power grid quality. Simulations studies indicate the proposed backstepping-based adaptive neural controller has good current tracking behavior and increased power quality.

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Hosseynia, Anissa, Ramzi Trabelsi, Atif Iqbal i Med Faouzi Mimounia. "Backstepping Control for a Five-Phase Permanent Magnet Synchronous Motor Drive". International Journal of Power Electronics and Drive Systems (IJPEDS) 6, nr 4 (1.12.2015): 842. http://dx.doi.org/10.11591/ijpeds.v6.i4.pp842-852.

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This paper deals with the synthesis of a speed control strategy for a five-phase permanent magnet synchronous motor (PMSM) drive based on backstepping controller. The proposed control strategy considers the nonlinearities of the system in the control law. The stability of the backstepping control strategy is proved by the Lyapunov theory. Simulated results are provided to verify the feasibility of the backstepping control strategy.

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Yi-Min, Ll, Yue Yang i Li Li. "Adaptive Backstepping Fuzzy Control Based on Type-2 Fuzzy System". Journal of Applied Mathematics 2012 (2012): 1–27. http://dx.doi.org/10.1155/2012/658424.

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A novel indirect adaptive backstepping control approach based on type-2 fuzzy system is developed for a class of nonlinear systems. This approach adopts type-2 fuzzy system instead of type-1 fuzzy system to approximate the unknown functions. With type-reduction, the type-2 fuzzy system is replaced by the average of two type-1 fuzzy systems. Ultimately, the adaptive laws, by means of backstepping design technique, will be developed to adjust the parameters to attenuate the approximation error and external disturbance. According to stability theorem, it is proved that the proposed Type-2 Adaptive Backstepping Fuzzy Control (T2ABFC) approach can guarantee global stability of closed-loop system and ensure all the signals bounded. Compared with existing Type-1 Adaptive Backstepping Fuzzy Control (T1ABFC), as the advantages of handling numerical and linguistic uncertainties, T2ABFC has the potential to produce better performances in many respects, such as stability and resistance to disturbances. Finally, a biological simulation example is provided to illustrate the feasibility of control scheme proposed in this paper.

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Zhou, Wei, i Bao Bin Liu. "Backstepping Based Adaptive Control of Magnetic Levitation System". Applied Mechanics and Materials 341-342 (lipiec 2013): 945–48. http://dx.doi.org/10.4028/www.scientific.net/amm.341-342.945.

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In view of parameter uncertainty in the magnetic levitation system, the adaptive controller design problem is investigated for the system. Nonlinear adaptive controller based on backstepping is proposed for the design of the actual system with parameter uncertainty. The controller can estimate the uncertainty parameter online so as to improve control accuracy. Theoretical analysis shows that the closed-loop system is stable regardless of parameter uncertainty. Simulation results demonstrate the effectiveness of the presented method.

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Zhang, Ping Jun, i Xin Hua Jiang. "Adaptive Backstepping Control Based upon DRFNN for RCRBV". Advanced Materials Research 403-408 (listopad 2011): 5082–87. http://dx.doi.org/10.4028/www.scientific.net/amr.403-408.5082.

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For the nonliear and uncertainty parameters of the running driving component of Resonant cement-road breaking vehicle (RCRBV), the mathematic model of the speed Control is established, a adaptive backstepping control method based upon the dynamic recurrent fuzzy neural networks (DRFNN) is presented. The adaptive backstepping controlling arithmetic is designed firstly in transportational status without regard to the uncertain parameters. The convergence based on Lyapunov theory for the closed loop system is also analysised. secondly, the uncertain parameters of the Electro-hydraulic propotional system which affect the running speed controlling performances are defined as items to be estimated by DRFNN in breaking status to meet the high precision and stability requires, the parameter adjustment law is given based upon DRFNN. Finally, the results of the simulation show that the scheme is robust with respect to plant parameter variations and load disturbances.

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Farrell, Jay, Manu Sharma i Marios Polycarpou. "Backstepping-Based Flight Control with Adaptive Function Approximation". Journal of Guidance, Control, and Dynamics 28, nr 6 (listopad 2005): 1089–102. http://dx.doi.org/10.2514/1.13030.

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Honglei, An, Li Jie, Wang Jian, Wang Jianwen i Ma Hongxu. "Backstepping-Based Inverse Optimal Attitude Control of Quadrotor". International Journal of Advanced Robotic Systems 10, nr 5 (styczeń 2013): 223. http://dx.doi.org/10.5772/56337.

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Ting, Chen-Sheng, i Yong-Nong Chang. "Observer-based backstepping control of linear stepping motor". Control Engineering Practice 21, nr 7 (lipiec 2013): 930–39. http://dx.doi.org/10.1016/j.conengprac.2013.02.018.

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Li, Hong Ru, i Zhi Bin Jiang. "CMAC-Based Backstepping Sliding Mode Control of PMSM". Applied Mechanics and Materials 380-384 (sierpień 2013): 480–84. http://dx.doi.org/10.4028/www.scientific.net/amm.380-384.480.

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The paper describes a hybrid approach to the problem of controlling permanent magnet synchronous motor (PMSM) with unmodelled dynamics and unknown external disturbances. First, the backstepping sliding mode (BS) controller based on the equation of PMSM is elaborated. Its effect is to achieve a stable control. Then the cerebellar model arithmetic computer (CMAC) controller is implemented to compensate uncertainties. Furthermore, the nonlinear disturbance observer (DO) is applied to estimate the time-varying lumped disturbance D(t) for improving the precision of the tracking control. The proposed CMAC-based method can acquire high control performance in the presence of disturbance and guarantee the stability of closed-loop systems on the basis of the Lyapunov theorem. The effectiveness and robustness are demonstrated through simulation results obtained for the tracking control of PMSM.

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Zhao, Jiaqi, Dongzhu Feng, Jiashan Cui i Xin Wang. "Finite-Time Extended State Observer-Based Fixed-Time Attitude Control for Hypersonic Vehicles". Mathematics 10, nr 17 (2.09.2022): 3162. http://dx.doi.org/10.3390/math10173162.

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A finite-time extended, state-observer-based, fixed-time backstepping control algorithm was designed for hypersonic flight vehicles. To enhance the robustness of the controller, two novel finite-time extended state observers were introduced to compensate for the negative effects of lumped disturbances such as uncertainties and external disturbances. Two hyperbolic sine tracking differentiators were used to approximate the derivatives of the virtual control signals and guidance commands, thereby alleviating the computational burden associated with traditional backstepping control. Furthermore, a fixed-time backstepping attitude controller was used to guarantee that the tracking errors converged to a small neighbor of the origin in fixed time. According to the simulation results, the proposed controller outperformed a fixed-time sliding mode disturbance, observer-based, finite-time backstepping controller in terms of the tracking precision and convergence rate. Moreover, the proposed controller was noted to be robust in simulations involving lumped disturbances.

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Tien. "ROTOR SPEED CONTROL FOR THE PMSG WIND TURBINE SYSTEM USING DYNAMIC SURFACE CONTROL ALGORITHM". Journal of Military Science and Technology, nr 68 (3.08.2020): 97–107. http://dx.doi.org/10.54939/1859-1043.j.mst.68.2020.97-107.

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This paper focuses on the design a controller for PMSG Wind turbine system bases on dynamic surface control (DSC). DSC is a new technique based on sliding mode control and backstepping which provides the ability to solve problems in backstepping controllers and avoids their drawbacks. The stability of the system is proved by using Lyapunov theory. The proposed controller was simulated in matlab/simulink and results expressed the efficiency of the controller.

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Abdallah, Abden, A. Bouchetta, O. Boughazi, A. Baghdadi i L. K. Bousserhane. "Double star induction machine using nonlinear integral backstepping control". International Journal of Power Electronics and Drive Systems (IJPEDS) 10, nr 1 (1.03.2019): 27. http://dx.doi.org/10.11591/ijpeds.v10.i1.pp27-40.

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<span lang="EN-GB">This paper presents a nonlinear Integral backstepping control approach based on field oriented control technique, applied to a Double Star Induction Machine ‘DSIM’ feed by two power voltage sources. We present this technique of integral backstepping by using reduced and complete Model of DSIM. The objective is to improve the robustness of machine under internal parameter variation with nonlinear Integral backstepping control. The robustness test results obtained by simulation prove the effectiveness of control with using complete model of DSIM.</span>

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Bai, Keqiang, Guoli Jiang, Guanwu Jiang i Zhigui Liu. "Based on fuzzy-approximation adaptive backstepping control method for dual-arm of humanoid robot with trajectory tracking". International Journal of Advanced Robotic Systems 16, nr 3 (1.05.2019): 172988141983190. http://dx.doi.org/10.1177/1729881419831904.

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In this article, a fuzzy-approximation-based adaptive backstepping control method for dual-arm of a humanoid robot was proposed. The purpose of this control system is to provide coordinated movement assistance to enable the humanoid robot’s human-like forearm to grab objects coordinately (or track any continuous desired trajectory), even in the presence of environmental disturbances and parametric uncertainties. We analyze the proposed adaptive backstepping by mathematical modeling and actually measure the robot dual-arm motion information of a number of case when they simulate the trajectory to verify the model. We design the adaptive fuzzy-approximation control strategy and combining the synthesis of the robust design, backstepping control, and Lyapunov function method, the proposed adaptive fuzzy backstepping control does not need to know the humanoid robot’s arms model precisely. In the control system proposed here, once the desired trajectories of the robot’s dual-arm positions are given, the adaptive fuzzy system was closed to any unknown functions and to the derivative of the virtual control law of the humanoid robot system. In this case, a robust design scheme was utilized to compensate for any approximation errors. With the proposed trajectory tracking, not only able to generate the coordinate motions for a humanoid robot’s two arms, but it can also control the arms to move to the desired positions. The proposed closed-loop system under the adaptive fuzzy backstepping control design was effective and that asymptotic stability was successfully achieved. The adaptive fuzzy-approximation backstepping control strategy should be more complete and intelligent and more actual test should be conducted to further evaluate the effect of the proposed trajectory tracking. The instability of dual-arm of humanoid robot system is systematically analyzed and a backstepping control strategy based on the adaptive fuzzy-approximation to improve the continuity of trajectory tracking of the robot’s arms is proposed.

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Ji, Yang. "The EKF Senorless Control Strategy of Permanent Magnet Synchronous Motor Adaptive Backstepping Control System". Applied Mechanics and Materials 249-250 (grudzień 2012): 1166–72. http://dx.doi.org/10.4028/www.scientific.net/amm.249-250.1166.

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For the unsatisfactory of the traditional linear control methods, on the basis of the mathematical model of PMSM, a combination of backstepping control method based on the Lyapunov function and adaptive control method is used in the speed control system of PMSM. A method of estimating the rotor position and speed based in extended Kalman filter (EKF) for PMSM is proposed. A simulation model of PMSM using the designed adaptive backstepping controller with EKF is built. The results of simulation using the control method show the preferably dynamic and stable-static performance of the system, and prove its effectiveness.

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Mehedi, Fayçal, Lazhari Nezli, Mohamed Oul Hadj Mahmoudi, Rachid Taleb i Djamel Boudjana. "Backstepping speed controller design for a multi-phase permanent magnet synchronous motor drive". Journal of Renewable Energies 22, nr 2 (6.10.2023): 269–78. http://dx.doi.org/10.54966/jreen.v22i2.744.

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This paper deals with the synthesis of a speed control strategy for a six-phase permanent magnet synchronous motor (PMSM) drive based on backstepping controller (BC). The Backstepping control is a systematic and recursive design methodology for nonlinear feedback control. The results demonstrate that backstepping controller has the advantage of rapid response, no overshoot and stability compared with PI controller.

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Mahersi, Emna, i Adel Khedher. "Backstepping flux observer for nonlinear control of the direct-drive permanent magnet synchronous generator wind turbines". Wind Engineering 40, nr 6 (3.10.2016): 540–54. http://dx.doi.org/10.1177/0309524x16671192.

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This article described a backstepping flux observer and a backstepping control strategy applied to the wind energy conversion system based on synchronous generator. The proposed control technique is developed for both converters: the stator-side converter and the grid-side converter. The stator flux is recovered by the backstepping flux observer, and simultaneously, we introduce stator resistance variations to test the robustness of nonlinear backstepping control strategy. Then, MATLAB simulation works show high performances in terms of tracking, stability, and robustness against parameter variations.

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Zhao, Haibo, i Chengguang Wang. "RBF NN-Based Backstepping Adaptive Control for a Class of Nonlinear Systems". MATEC Web of Conferences 214 (2018): 03005. http://dx.doi.org/10.1051/matecconf/201821403005.

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There are many control methods for nonlinear systems, but some of them can not control nonlinear mismatched systems very well. Backstepping control has obvious advantages in controlling nonlinear mismatched systems. Thus we proposed a new radial-basis-function (RBF) neural network-based backstepping adaptive controller combining RBF neural network (RBF NN) and backstepping control for a class of nonlinear mismatched systems. We adopted RBF NN to approximate the system uncertainty. And we analyzed the controller stability using Lyapunov stability theory. Finally we chose sine signal as simulation input signal, simulation results show that the proposed control strategy has better adaptive ability and robustness than PID control, validating the effectivess of the proposed control strategy.

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Xie, Shuo, Xiumin Chu, Chenguang Liu i Mao Zheng. "Marine diesel engine speed control based on adaptive state-compensate extended state observer-backstepping method". Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 233, nr 5 (31.08.2018): 457–71. http://dx.doi.org/10.1177/0959651818794562.

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The marine diesel engine propulsion system is a nonlinear system with time delay. In order to realize the accurate and real-time control of the marine diesel engine speed, a new method based on state-compensate extended state observer, backstepping method and beetle antennae search algorithm, that is, adaptive state-compensate extended state observer-backstepping, is proposed. First of all, the response relationship model between the engine speed and the fuel injection is established on the basis of the mean value model of diesel engine. Then, to deal with the load disturbances and model parameter perturbation of diesel engine, a state-compensate extended state observer is used to estimate lumped disturbances and states of the diesel engine, and a backstepping method combined with the state-compensate extended state observer, namely state-compensate extended state observer-backstepping, is used to control the marine diesel engine speed. Then, an adaptive state-compensate extended state observer-backstepping controller is proposed by introducing the beetle antennae search algorithm for online optimization of the control parameters. Finally, simulation experiments based on the model of the 12K98ME marine diesel engine are conducted to verify the effectiveness of the proposed controller under conditions of random disturbances, sudden dumping load and parameter perturbation. The experiment results show that the proposed adaptive state-compensate extended state observer-backstepping control method has a better control effect and stronger disturbance rejection ability in comparison of the standard linear active disturbance rejection control.

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Liu, Yuqian, Jiaxing Che i Chengyu Cao. "Advanced Autonomous Underwater Vehicles Attitude Control with L 1 Backstepping Adaptive Control Strategy". Sensors 19, nr 22 (7.11.2019): 4848. http://dx.doi.org/10.3390/s19224848.

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This paper presents a novel attitude control design, which combines L 1 adaptive control and backstepping control together, for Autonomous Underwater Vehicles (AUVs) in a highly dynamic and uncertain environment. The Euler angle representation is adopted in this paper to represent the attitude propagation. Kinematics and dynamics of the attitude are in the strict feedback form, which leads the backstepping control strategy serving as the baseline controller. Moreover, by bringing fast and robust adaptation into the backstepping control architecture, our controller is capable of dealing with time-varying uncertainties from modeling and external disturbances in dynamics. This attitude controller is proposed for coupled pitch-yaw channels. For inevitable roll excursions, a Lyapunov function-based optimum linearization method is presented to analyze the stability of the roll angle in the operation region. Theoretical analysis and simulation results are given to demonstrate the feasibility of the developed control strategy.

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37

Aranda-Cetraro, Italo, Gustavo Pérez-Zúñiga, Raul Rivas-Pérez i Javier Sotomayor-Moriano. "Nonlinear Robust Control by a Modulating-Function-Based Backstepping Super-Twisting Controller for a Quadruple Tank System". Sensors 23, nr 11 (31.05.2023): 5222. http://dx.doi.org/10.3390/s23115222.

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In this paper, a robust nonlinear approach for control of liquid levels in a quadruple tank system (QTS) is developed based on the design of an integrator backstepping super-twisting controller, which implements a multivariable sliding surface, where the error trajectories converge to the origin at any operating point of the system. Since the backstepping algorithm is dependent on the derivatives of the state variables, and it is sensitive to measurement noise, integral transformations of the backstepping virtual controls are performed via the modulating functions technique, rendering the algorithm derivative-free and immune to noise. The simulations based on the dynamics of the QTS located at the Advanced Control Systems Laboratory of the Pontificia Universidad Católica del Perú (PUCP) showed a good performance of the designed controller and therefore the robustness of the proposed approach.

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38

Horch, Mohamed, Abdelmadjid Boumediene i Lotfi Baghli. "MRAS-based Sensorless Speed Integral Backstepping Control for Induction Machine, using a Flux Backstepping Observer". International Journal of Power Electronics and Drive Systems (IJPEDS) 8, nr 4 (1.12.2017): 1650. http://dx.doi.org/10.11591/ijpeds.v8.i4.pp1650-1662.

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<p>This paper presents a study concerning a sensorless vector control of an induction machine fed by a voltage source inverter. The aim is to provide a scheme to control the speed and the rotor flux using a sensorless integral backstepping control approach. The rotor speed estimation is done by an observer using the model reference adaptive system (MRAS) technique whereas the nonlinear backstepping observer is used to get the rotor flux. The main objective is to achieve a robust control, adaptive and efficient, which will allow us to test and evaluate the performance of the proposed observer, combined with a sensorless control of the induction machine. Tests and validation are done using numerical simulations with MATLAB/SIMULINK-PSB (Power System Block set) toolbox. The results show good performance in terms of robustness regarding machine parameter variations and show the excellent quality of the control law associated with the observer, despite the observability problems when the machine operates at low speed. </p>

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Zhao, Hongchao, Jianzhong Zhao i Xuexia Dong. "UAV Swarm Formation Control Based on Disturbance Observer and Backstepping Controller". Journal of Physics: Conference Series 2637, nr 1 (1.11.2023): 012009. http://dx.doi.org/10.1088/1742-6596/2637/1/012009.

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Abstract The formation control problem was researched for a fixed-wing unmanned aerial vehicle (UAV) swarm. The kinematic model was built for a UAV considering the lumped disturbances. The disturbance observers were designed to estimate the lumped disturbances in finite time. The desired UAV swarm formation was represented by a virtual structure. The backstepping controller was designed for every UAV to complete the formation maintaining a task. The sigmoid tracking differentiator (STD) was added to the backstepping controller, in order to settle the problem of “explosion of complexity”. The numerical simulation was executed to show the formation maintaining procedure of the UAV swarm. The simulation results demonstrate that the disturbance observer has good disturbance rejection capability and the backstepping controller based on the STD has good formation maintaining performance.

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He, Naifeng, Zhong Yang, Xiaoliang Fan, Jiying Wu, Yaoyu Sui i Qiuyan Zhang. "A Self-Adaptive Double Q-Backstepping Trajectory Tracking Control Approach Based on Reinforcement Learning for Mobile Robots". Actuators 12, nr 8 (14.08.2023): 326. http://dx.doi.org/10.3390/act12080326.

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When a mobile robot inspects tasks with complex requirements indoors, the traditional backstepping method cannot guarantee the accuracy of the trajectory, leading to problems such as the instrument not being inside the image and focus failure when the robot grabs the image with high zoom. In order to solve this problem, this paper proposes an adaptive backstepping method based on double Q-learning for tracking and controlling the trajectory of mobile robots. We design the incremental model-free algorithm of Double-Q learning, which can quickly learn to rectify the trajectory tracking controller gain online. For the controller gain rectification problem in non-uniform state space exploration, we propose an incremental active learning exploration algorithm that incorporates memory playback as well as experience playback mechanisms to achieve online fast learning and controller gain rectification for agents. To verify the feasibility of the algorithm, we perform algorithm verification on different types of trajectories in Gazebo and physical platforms. The results show that the adaptive trajectory tracking control algorithm can be used to rectify the mobile robot trajectory tracking controller’s gain. Compared with the Backstepping-Fractional-Older PID controller and Fuzzy-Backstepping controller, Double Q-backstepping has better robustness, generalization, real-time, and stronger anti-disturbance capability.

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Herizi, Abdelghafour, Abdelhafid Benyounes, Riyadh Rouabhi, Abdelghafour Boudras, Fayssal Ouagueni i Abderrahim Zemmit. "Robust fuzzy – backstepping mode control of an induction motor". STUDIES IN ENGINEERING AND EXACT SCIENCES 5, nr 1 (22.04.2024): 1317–34. http://dx.doi.org/10.54021/seesv5n1-068.

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This paper presents a novel control for induction motors using backstepping control and fuzzy logic. The Backstepping control is suggested as a substitute for the conventional PI controller to attain high-performance motion control systems for the speed, flux, and current control loops. Stability analysis, based on Lyapunov theory, is also conducted to guarantee the convergence of the speed tracking error from all possible initial conditions. The speed regulator was changed to a fuzzy logic regulator. The simulation results confirm that the proposed hybrid control fuzzy-backstepping scheme offers improved performance in terms of trajectory tracking ability and robustness against variation when subjected to time-varying reference input.

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Sun, Yiming, Xuping Wang, Fan Yi i Buchuan Li. "MTPA Control for PMSM Velocity-specified Position Tracking Based on the Principle of Backstepping Control". Journal of Physics: Conference Series 2655, nr 1 (1.11.2023): 012033. http://dx.doi.org/10.1088/1742-6596/2655/1/012033.

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Abstract In this paper, a control method based on the backstepping control is proposed to address the issues of uncontrollable speed and complex PI parameter tuning in the traditional PID position control of PMSM. By comparing with id=0 control, MTPA control enables the IPMSM to maximize the utilization of reluctance torque. The dq current relationship under MTPA control is established using a formulaic method. Based on this, a position, speed, and current backstepping controller is designed, which adds a degree of freedom to the speed control during the position control process while ensuring the stability of the control system. Simulation results demonstrate fast dynamic response, small steady-state error, and minimal parameter adjustments, thus verifying the correctness and effectiveness of this method.

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Dong, Rui-Qi, Yu-Yao Wu, Ying Zhang i Ai-Guo Wu. "Adaptive Backstepping Attitude Control Law with L2-Gain Performance for Flexible Spacecraft". International Journal of Aerospace Engineering 2019 (21.11.2019): 1–11. http://dx.doi.org/10.1155/2019/6392175.

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In this paper, an observer-based adaptive backstepping attitude maneuver controller (briefly, OBABC) for flexible spacecraft is presented. First, an observer is constructed to estimate the flexible modal variables. Based on the proposed observer, a backstepping control law is presented for the case where the inertia matrix is known. Further, an adaptive law is developed to estimate the unknown parameters of the inertia matrix of the flexible spacecraft. By utilizing Lyapunov theory, the proposed OBABC law can guarantee the asymptotical convergence of the closed-loop system in the presence of the external disturbance, incorporating with the L2-gain performance criterion constraint. Simulation results show that the attitude maneuver can be achieved by the proposed observer-based adaptive backstepping attitude control law.

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Choueikh, Safa, Marwen Kermani i Faouzi M’Sahli. "Adaptive Fuzzy Backstepping and Backstepping Sliding Mode Controllers Based on ICD Observer: A Comparative Study". International Journal of Uncertainty, Fuzziness and Knowledge-Based Systems 32, nr 02 (marzec 2024): 133–63. http://dx.doi.org/10.1142/s0218488524500065.

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This paper develops a Fuzzy Adaptive Backstepping Control (FABC) and a Fuzzy Adaptive Backstepping Sliding Mode Control (FABSMC) for Single-Input Single-Output (SISO) nonlinear-systems with unmeasured states. The proposed adaptive schemes are fully compared. Thus, the Fuzzy Type-2 (FT2) concept and the High-Order Integral-Chain Differentiator (HOICD) are used as two universal approximators. Indeed, the first one is employed to approximate the nonlinear system model’s and the second one to estimate the unknown states. Special attention is paid for the used approximators robustness under unmodeled dynamics, parameter variations and process noise. It should be noted that the asymptotic stability of both the fuzzy adaptive controls and the observer convergence for each scheme have been proved. In addition, the employed schemes have been simulated on a two-tank coupled nonlinear system. Thus, from simulation results, we can prove that the proposed methods guarantee that all signals for closed loop systems are both regular and bounded. Specifically, it can be shown that the performances of the proposed Fuzzy Interval Type-2 (FIT2) schemes are significantly improved compared with Fuzzy Type-1 (FT1) schemes in presence of external disturbances.

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45

Zhao, Bingfeng, Yang Tang, Chunping Wu i Wei Du. "Vision-Based Tracking Control of Quadrotor With Backstepping Sliding Mode Control". IEEE Access 6 (2018): 72439–48. http://dx.doi.org/10.1109/access.2018.2882241.

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Kristiansen, Raymond, Per Johan Nicklasson i Jan Tommy Gravdahl. "Spacecraft coordination control in 6DOF: Integrator backstepping vs passivity-based control". Automatica 44, nr 11 (listopad 2008): 2896–901. http://dx.doi.org/10.1016/j.automatica.2008.04.019.

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Meng, Fanfeng, Lin Zhao i Jinpeng Yu. "Distributed Adaptive Neural Consensus Tracking Control for Multiple Euler-Lagrange Systems with Unknown Control Directions". Complexity 2020 (11.03.2020): 1–12. http://dx.doi.org/10.1155/2020/6061852.

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This paper investigates the distributed adaptive neural consensus tracking control for multiple Euler-Lagrange systems with parameter uncertainties and unknown control directions. Motivated by the Nussbaum-type function and command-filtered backstepping technique, the error compensations and neural network approximation-based adaptive laws are established, which can not only overcome the computation complexity problem of backstepping but also make the consensus tracking errors reach to the desired region although the control directions and system nonlinear dynamics are both unknown. Numerical example is given to show the proposed algorithm is effective at last.

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Wan, Lei, Nan Sun i Yu Lei Liao. "Backstepping Control Method for the Trajectory Tracking for the Underactuated Autonomous Underwater Vehicle". Advanced Materials Research 798-799 (wrzesień 2013): 484–88. http://dx.doi.org/10.4028/www.scientific.net/amr.798-799.484.

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The underactuated autonomous underwater vehicles (AUV) have the characteristics of strong nonlinearity and model uncertainty. A method of backstepping path following control was raised for the trajectory tracking control problem of the AUV under Serret-Frenet frame. It transformed the original underactuated system into an actuated nonlinear system based on simplified analysis. A backstepping trajectory tracking controller was proposed based on backstepping method. By means of Lyapunov stability theory, it was proven that the proposed controller can guarantee the path following control system globally asymptotically stable. Simulation experiments show that the control system has good adaptability and robustness in case of parameter uncertainties and external disturbances to avoid shaking of performance.

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Sun, Changle, Zhiyuan Wang, Yingbo Wang, Haipeng Sun i Tingrui Liu. "Flutter Suppression of Wind Turbine Blade Based on RBF Neural Network Compensation Backstepping Control". Journal of Physics: Conference Series 2173, nr 1 (1.01.2022): 012030. http://dx.doi.org/10.1088/1742-6596/2173/1/012030.

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Abstract Aiming at the critical flutter problem of wind turbine blades, which is between classical flutter and stall flutter, a flutter suppression scheme based on radial basis function (RBF) neural network friction compensation backstepping is presented. The structure model is based on the typical 2D section of bending and twist model of spring-mass-damper, and the rotor variable exciter second-order model with friction disturbance is incorporated to control the rotor variable blade. A modified quasi - steady - state aerodynamic model was used for aerodynamics actuation. RBF compensation backstepping control scheme is a block-controlled backstepping controller designed based on the stability theorem of Lyapunov function, which approximates the frictional interference with nonlinear characteristics through RBF network, and cancels the friction existing in the actuator of variable rotor. Four wind speed environments were selected to analyze the response of blades under different wind speeds, and the flutter suppression effects under two wind speeds were selected to verify the ability of RBF network to approach the nonlinear function. The results show that the RBF backstepping control scheme can improve the robustness to suppress the critical flutter problem of wind turbine blades.

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Wan, Zhenshuai, Longwang Yue i Yu Fu. "Neural Network Based Adaptive Backstepping Control for Electro-Hydraulic Servo System Position Tracking". International Journal of Aerospace Engineering 2022 (5.09.2022): 1–16. http://dx.doi.org/10.1155/2022/3069092.

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The modeling uncertainties and external disturbances of electro-hydraulic servo system (EHSS) deteriorate the system’s trajectory tracking performance. To cope with this issue, an adaptive backstepping controller based on neural network (NN) is proposed in this paper. A radial-basis-function neural network (RBF NN) is constructed to approximate the lumped uncertainties caused by modeling uncertainties and external disturbances, where the adaptive law is adopted to adjust controller parameters online. The backstepping control is used to eliminate mismatched nonlinear terms and stabilize the system. The dynamic surface control (DSC) is adopted to handle the “explosion of complexity” problem of backstepping method and reduce the computational burden. Compared to the traditional backstepping control, the proposed control scheme improves the steady-state tracking precision and makes the control signal smaller. In addition, the stability analysis shows that the tracking error can asymptotically converge to zero in the face of time-varying unknown dynamics. Simulation and experiment results demonstrate the effectiveness of the controller in term of tracking accuracy and disturbance rejection in comparison with other controllers for the EHSS.

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