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Автор: Grafiati
Опубліковано: 6 вересня 2023

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Статті в журналах з теми "Backstepping methods in control design"

1

Han, Seongik. "Grey Wolf and Weighted Whale Algorithm Optimized IT2 Fuzzy Sliding Mode Backstepping Control with Fractional-Order Command Filter for a Nonlinear Dynamic System." Applied Sciences 11, no. 2 (January 6, 2021): 489. http://dx.doi.org/10.3390/app11020489.

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Анотація:
In this study, a fractional-order sliding mode backstepping control method was proposed, which involved the use of a fractional-order command filter, an interval type-2 fuzzy logic system approximation method, and a grey wolf and weighted whale optimization algorithm for multi-input multi-output nonlinear dynamic systems. For designing the stabilizing controls of the backstepping control, a novel fractional-order sliding mode surface was suggested. Further, the transformed errors that occurred during the recursive design steps were easily compensated by the controllers constructed using a new fractional-order command filter. Thus, the differentiation issue of the virtual control in the conventional backstepping control design could be bypassed with a simpler controller structure. Subsequently, the unknown plant dynamics were approximated by an interval type-2 fuzzy logic system. The uncertainties, such as the approximation error and the external disturbance, were compensated by the fractional-order sliding mode control that was added in the backstepping controller. Furthermore, the controller parameters and the fuzzy logic system were optimized via a grey wolf and weighted whale optimization algorithm to obtain a faster tuning process and an improved control performance. Simulation results demonstrated that the fractional-order sliding mode backstepping control scheme provides enhanced control performance over the conventional backstepping control system. Thus, in this paper, a fractional-order sliding mode surface and fractional-order backstepping control are studied, which provide more rapid convergence and enhanced robustness. Furthermore, a hybrid grey wolf and weighted whale optimization algorithm are proposed to provide an improved learning performance than those of conventional grey wolf optimization and weighted whale optimization methods.
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2

Liu, Jinglong, Jing Wen, Xiaoxiong Liu, and Qizhi He. "A Modified Backstepping Control and Dynamic Control Allocation Method for Command Tracking." Xibei Gongye Daxue Xuebao/Journal of Northwestern Polytechnical University 36, no. 1 (February 2018): 117–23. http://dx.doi.org/10.1051/jnwpu/20183610117.

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Анотація:
This paper uses the modified Backstepping (BS) Control method and the Dynamic Control Allocation (DCA) method to solve the problem that when the fighter aircraft under different flight conditions, it will be adaptively tracking different commands. Firstly, we introduce the classical Lyapunov method and classical backstepping control method, and then propose a modified backstepping control method to be applied by general flight control system model. Finally, for the problem that the common control allocation method can't compensate for ignoring the actuator dynamics, a dynamic control allocation method is introduced, and it is successfully applied to the design of the whole closed loop control system. The controller reserves the stable nonlinear term of the system, eliminates the unstable nonlinear term, and minimize the impact of ignoring the actuator dynamic through the dynamic allocation. The simulation results show that the methods in this paper have a good response. It can be implemented in different flight conditions with a good performance of command tracking and lots of robustness.
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3

Kolsi-Gdoura, E., M. Feki, and N. Derbel. "Observer Based Robust Position Control of a Hydraulic Servo System Using Variable Structure Control." Mathematical Problems in Engineering 2015 (2015): 1–11. http://dx.doi.org/10.1155/2015/724795.

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Анотація:
This paper deals with the position control of a hydraulic servo system rod. Our approach considers the surface design as a case of virtual controller design using the backstepping method. We first prove that a linear surface does not yield to a robust controller with respect to the unmatched uncertainty and perturbation. Next, to remedy this deficiency, a sliding controller based on the second-order sliding mode is proposed which outperforms the first controller in terms of chattering attenuation and robustness with respect to parameter uncertainty only. Next, based on backstepping a nested variable structure design method is proposed which ensures the robustness with respect to both unmatched uncertainty and perturbation. Finally, a robust sliding mode observer is appended to the closed loop control system to achieve output feedback control. The stability and convergence to reference position with zero steady state error are proven when the controller is constructed using the estimated states. To illustrate the efficiency of the proposed methods, numerical simulation results are shown.
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Barros, João Dionísio Simões, Luis Rocha, and J. Fernando Silva. "Backstepping Control of NPC Multilevel Converter Interfacing AC and DC Microgrids." Energies 16, no. 14 (July 20, 2023): 5515. http://dx.doi.org/10.3390/en16145515.

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Анотація:
This work introduces modified backstepping methods to design controllers for neutral point clamped (NPC) converters interfacing a DC/AC microgrid. The modified backstepping controllers are derived from a proper converter model, represented in dq coordinates, and are designed to regulate the DC voltage and to balance the two NPC converter DC capacitor voltages through a DC offset in the sinusoidal pulse width modulation (SPWM) carriers. The averaged and separated dynamics backstepping controllers also enforce nearly sinusoidal AC currents at a given power factor. The two proposed NPC converter controllers are evaluated through MATLAB/Simulink simulations and experimental implementation using a laboratory prototype. Simulations and experimental results show that the two modified backstepping controllers regulate the microgrid DC voltage in steady state and in transient operation, even with load disturbances or DC voltage reference changes, while enforcing nearly AC sinusoidal currents at a given power factor or injected reactive power. The modified backstepping-controlled NPC converter is bidirectional, converting energy from DC renewable energy sources or storage systems to AC or charging storage systems from AC. The results also highlight the effective balancing of the NPC DC capacitor voltages.
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5

Ismail, S., A. A. Pashilkar, R. Ayyagari, and N. Sundararajan. "Diagonally dominant backstepping autopilot for aircraft with unknown actuator failures and severe winds." Aeronautical Journal 118, no. 1207 (September 2014): 1009–38. http://dx.doi.org/10.1017/s0001924000009726.

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Анотація:
Abstract A novel formulation of the flight dynamic equations is presented that permits a rapid solution for the design of trajectory following autopilots for nonlinear aircraft dynamic models. A robust autopilot control structure is developed based on the combination of the good features of the nonlinear dynamic inversion (NDI) method, integrator backstepping method, time scale separation and control allocation methods. The aircraft equations of motion are formulated in suitable variables so that the matrices involved in the block backstepping control design method are diagonally dominant. This allows us to use a linear controller structure for a trajectory following autopilot for the nonlinear aircraft model using the well known loop by loop controller design approach. The resulting autopilot for the fixed-wing rigid-body aircraft with a cascaded structure is referred to as the diagonally dominant backstepping (DDBS) controller. The method is illustrated here for an aircraft auto-landing problem under unknown actuator failures and severe winds. The requirement of state and control surface limiting is also addressed in the context of the design of the DDBS controller.
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Nguyen, Vi H., and Thanh T. Tran. "A Novel Hybrid Robust Control Design Method for F-16 Aircraft Longitudinal Dynamics." Mathematical Problems in Engineering 2020 (September 22, 2020): 1–10. http://dx.doi.org/10.1155/2020/5281904.

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Анотація:
This paper presents a hybrid robust control design method for a third-order lower-triangular model of nonlinear dynamic systems in the presence of disturbance. In this paper, a novel control design is presented systematically to synthesize a robust nonlinear feedback controller, called backstepping sliding mode control (BSMC), for the proposed system by a combined approach of backstepping design and sliding mode control. In this approach, a family of the “sliding surface” is introduced in state transformations. Then, a smooth switching function of the sliding surface is introduced and enforced to include in virtual feedbacks and a real control law from the control selection phrases of the backstepping design loop. The achieved control method proves a well-tracking command with asymptotic stability, provides a robustness in the presence of uncertainties, and eliminates completely a chattering phenomenon. The application of flight-path angle control corresponding to the longitudinal dynamics of a high-performance F-16 aircraft simulation model is implemented. Under some assumptions, full nonlinear longitudinal dynamics is reformed into a lower-triangular system for a direct application to formulate a control law. A closed-loop system is achieved for in-flight simulation with different flight profiles for a comparison of the existing methods. Also, an external disturbance on different loading/unloading conditions in flight is applied to verify and validate robustness of the proposed control method.
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Zhang, Chao, Xing Wang, Zhengfeng Ming, and Zhuang Cai. "Enhanced Nonlinear Robust Control for TCSC in Power System." Mathematical Problems in Engineering 2018 (2018): 1–11. http://dx.doi.org/10.1155/2018/1416059.

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Анотація:
This paper proposes an enhanced robust control method, which is for thyristor controlled series compensator (TCSC) in presences of time-delay nonlinearity, uncertain parameter, and external disturbances. Unlike conventional adaptive control methods, the uncertain parameter is estimated by using system immersion and manifold invariant (I&I) adaptive control. Thus, the oscillation of states caused by the coupling between parameter estimator and system states can be avoided. In addition, in order to overcome the influences of time-delay nonlinearity and external disturbances, backstepping sliding mode control is adopted to design control law recursively. Furthermore, robustness of TCSC control subsystem is achievable provided that dissipation inequality is satisfied in each step. Effectiveness and efficiencies of the proposed control method are verified by simulations. Compared with adaptive backstepping sliding mode control and adaptive backstepping control, the time of reaching steady state is shortened by at least 11% and the oscillation amplitudes of transient responses are reduced by at most 50%.
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Rodríguez-Abreo, Omar, Juan Manuel Garcia-Guendulain, Rodrigo Hernández-Alvarado, Alejandro Flores Rangel, and Carlos Fuentes-Silva. "Genetic Algorithm-Based Tuning of Backstepping Controller for a Quadrotor-Type Unmanned Aerial Vehicle." Electronics 9, no. 10 (October 21, 2020): 1735. http://dx.doi.org/10.3390/electronics9101735.

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Анотація:
Backstepping is a control technique based on Lyapunov’s theory that has been successfully implemented in the control of motors and robots by several nonlinear methods. However, there are no standardized methods for tuning control gains (unlike the PIDs). This paper shows the tuning gains of the backstepping controller, using Genetic Algorithms (GA), for an Unmanned Aerial Vehicle (UAV), quadrotor type, designed for autonomous trajectory tracking. First, a dynamic model of the vehicle is obtained through the Newton‒Euler methodology. Then, the control law is obtained, and self-tuning is performed, through which we can obtain suitable values of the gains in order to achieve the design requirements. In this work, the establishment time and maximum impulse are considered as such. The tuning and simulations of the system response were performed using the MATLAB-Simulink environment, obtaining as a result the compliance of the design parameters and the correct tracking of different trajectories. The results show that self-tuning by means of genetic algorithms satisfactorily adjusts for the gains of a backstepping controller applied to a quadrotor and allows for the implementation of a control system that responds appropriately to errors of different magnitude.
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Ali, Sadia, Alvaro Prado, and Mahmood Pervaiz. "Hybrid Backstepping-Super Twisting Algorithm for Robust Speed Control of a Three-Phase Induction Motor." Electronics 12, no. 3 (January 29, 2023): 681. http://dx.doi.org/10.3390/electronics12030681.

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Анотація:
This paper proposes a Hybrid Backstepping Super Twisting Algorithm for robust speed control of a three-phase Induction Motor in the presence of load torque uncertainties. First of all, a three-phase squirrel cage Induction Motor is modeled in MATLAB/Simulink. This is then followed by the design of different non-linear controllers, such as sliding mode control (SMC), super twisting SMC, and backstepping control. Furthermore, a novel controller is designed by the synergy of two methods, such as backstepping and super twisting SMC (Back-STC), to obtain the benefits of both techniques and, thereby, improve robustness. The sigmoid function is used with an exact differentiator to minimize the high-speed discontinuities present in the input channel. The efficacy of this novel design and its performance were evidenced in comparison with other methods, carried out by simulations in MATLAB/Simulink. Regression parameters, such as ISE (Integral Square error), IAE (Integral Absolute error) and ITAE (Integral Time Absolute error), were calculated in three different modes of operation: SSM (Start-Stop Mode), NOM (Normal Operation Mode) and DRM (Disturbance Rejection Mode). In the end, the numerical values of the regression parameters were quantitatively analyzed to draw conclusions regarding the tracking performance and robustness of the implemented non-linear control techniques.
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Zhang, Hua. "Neural Network Command Filtered Control of Fractional-Order Chaotic Systems." Computational Intelligence and Neuroscience 2021 (October 21, 2021): 1–15. http://dx.doi.org/10.1155/2021/8962251.

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Анотація:
An adaptive neural network (NN) backstepping control method based on command filtering is proposed for a class of fractional-order chaotic systems (FOCSs) in this paper. In order to solve the problem of the item explosion in the classical backstepping method, a command filter method is adopted and the error compensation mechanism is introduced to overcome the shortcomings of the dynamic surface method. Moreover, an adaptive neural network method for unknown FOCSs is proposed. Compared with the existing control methods, the advantage of the proposed control method is that the design of the compensation signals eliminates the filtering errors, which makes the control effect of the actual system improve well. Finally, two examples are given to prove the effectiveness and potential of the proposed method.
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Більше джерел

Дисертації з теми "Backstepping methods in control design"

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Shekar, Sadahalli Arjun. "ADAPTIVE CONTROL DESIGN FOR QUADROTORS." OpenSIUC, 2017. https://opensiuc.lib.siu.edu/dissertations/1472.

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Анотація:
Unmanned Aerial Vehicles (UAV) control has become a very important point of scientific study. The control design challenges of a UAV make it one of the most researched areas in modern control applications. This thesis specifically chooses the Quadrotor as the UAV platform. Considering the quadrotor has 4 rotors and 6 degrees of freedom, it is an underactuated system and is dynamically unstable that has to be stabilized by a suitable control algorithm in order to operate autonomously. This thesis focuses on the quaternion representation of the quadrotor system dynamics and develops an adaptive control for its trajectory tracking problem. The control design uses the certainty equivalence principle where adaptive tracking controls are designed separately for each of the translational and rotational subsystems. With this approach, the success of the outer loop translational control relies on the fast convergence of the inner loop rotational control in order to guarantee the system’s stability while achieving the tracking objective. For the translational subsystem in the outer loop, a modified geometric control technique is considered with an adaptive component for the estimation of the uncertain mass of the quadrotor. For the rotational subsystem in the inner loop a backstepping based control design is adopted due to its systematic design and intuitive approach. An adaptive component is further integrated with it to estimate the integrated components of the uncertain Moment of Inertia matrix and other constant parameters in the system dynamics to guarantee the stability of the inner loop system while achieving the tracking objective. Furthermore, a complete backstepping control design methodology is presented which overcomes the issues of certainty equivalence principle where the inner loop needs to execute significantly faster than the outer loop to stabilize the system.
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Dahlgren, Johan. "Robust nonlinear control design for a missile using backstepping." Thesis, Linköping University, Department of Electrical Engineering, 2002. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1574.

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Анотація:

This thesis has been performed at SAAB Bofors Dynamics. The purpose was to derive a robust control design for a nonlinear missile using backstepping. A particularly interesting matter was to see how different design choices affect the robustness. Backstepping is a relatively new design method for nonlinear systems which leads to globally stabilizing control laws. By making wise decisions in the design the resulting closed loop can receive significant robustness. The method also makes it possible to benefit from naturally stabilizing aerodynamic forces and momentums. It is based on Lyapunov theory and the control laws and a Lyapunov function are derived simultaneously. This Lyapunov function is used to guarantee stability. In this thesis the control laws for the missile are first derived by using backstepping. The missile dynamics are described with aerodynamic coeffcients with corresponding uncertainties. The robustness of the design w.r.t. the aerodynamic uncertainties is then studied further in detail. One way to analyze how the stability is affected by the errors in the coeffcients is presented. To improve the robustness and remove static errors, dynamics are introduced in the control laws by adding an integrator. One conclusion that has been reached is that it is hard to immediately determine how a certain design choice affects the robustness. Instead it is at the point when algebraic expressions for the closed loop system have been obtained, that it is possible to analyze the affects of a certain design choice. The designed control laws are evaluated by simulations which shows satisfactory results.

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3

Henriquez, Acacio Alejandro Morales. "Flight control design for a flexible conceptual aircraft using backstepping technique." Instituto Tecnológico de Aeronáutica, 2011. http://www.bd.bibl.ita.br/tde_busca/arquivo.php?codArquivo=2170.

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Анотація:
A nonlinear flight control system is proposed for a conceptual flexible aircraft using Backstepping technique to achieve global stability in the rigid and flexible dynamics. It is introduced a controller to lead the model to a rigid-body model approximation, minimizing structural dynamics effects using static Backstepping approach, that system can be called as flexible modes suppressor. Afterward, it is applied a controller with an internal loop involving the angular rates of the aircraft and an external loop which includes pitch angle, sideslip angle and bank angle without the two-timescale assumption to separate slow and fast dynamics and without consider aerodynamics forces and moments increments caused by structural dynamics. In addition, external looping are built using Backstepping for first order systems in order to control aircraft course and altitude, the results are reference inputs to be introduced in the previous loop developed for rigid body control. Also, it is implemented a separate controller to track velocity using Backstepping approach, as a result, aircraft autopilot system is completed. Nonlinear six degree of freedom simulation results for a conceptual model of a medium size jet, like Embraer 190/195 and Boeing 737-200/300, are presented to demonstrate the effectiveness of the proposed control law in several conditions. It is assumed that the aerodynamics coefficients are fixed and the model presents augmented flexible features.
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4

Mahmoud, Nawrous Ibrahim. "A Backstepping Design of a Control System for a Magnetic Levitation System." Thesis, Linköping University, Department of Electrical Engineering, 2003. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-1960.

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Анотація:

The subject of this thesis is the design of a control law for a magnetic levitation system, which in this case is the system 33-210. The method used is backstepping technique and specifically adaptive observer backstepping due to parameter uncertainties and lack of access to all the states of the system. The second state of the system, the speed of the steel ball, was estimated by a reduced order observer. The model used gave us the opportunity to estimate a parameter which in the literature is denoted virtual control coefficient. Backstepping method gives us a rather straight forward way to design the controlling unit for a system with these properties. Stabilization of the closed-loop system is achieved by incorporating a Lypapunov function, which were chose a quadratic one in this thesis. If thederivative of this function is rendered negative definite by the control law, then we achieve stability. The results of the design were evaluated in simulations and real-time measurements by testing the tracking performance of the system. The simulation results were very promising and the validations in real-time were satisfying. Note that this has been done in previous studies; the new aspect here is the limitation of the voltage input. The real-time results showed that the parameter estimation converges only locally.

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5

Kroeger, Kenneth Edward. "Design and Evaluation of a Fixed-Pitch Multirotor UAV with a Nonlinear Control Strategy." Thesis, Virginia Tech, 2013. http://hdl.handle.net/10919/23109.

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Анотація:
The use and practical applications of small UAV systems has continually grown in the past several years in both the public and private sectors. These UAV systems are used for not only defensive purposes, but for commercial applications such as exterior bridge and home inspections, wildlife/wildfire management and observation, conservation exercises, law-enforcement, radio-repeating operations, and a wide variety of other uses that may not warrant the use, expense, space constraints, or risk of a manned aircraft. This thesis focuses on the design of a fixed pitch multirotor UAV system for use in furthering research projects and facilitating payload data collection from a flying platform without the expense or risk of testing with available larger UAV systems.

The design of a multirotor UAV system with a flight control scheme, communication architecture and hardware, electrical architecture and hardware, and mechanical design is presented. An Extended Kalman Filter (EKF) strategy is implemented aboard a developed Inertial Measurement Unit (IMU) to estimate vehicle state. Experiments then validated the estimates from the EKF through a comparative approach between the developed unit and a commercial unit. A nonlinear flight control system is implemented based on an Integral-Backstepping control strategy. The flight control strategy was then fully simulated and exhaustively tested under a variety of external disturbances and initial conditions from a fully dynamic modeled environment. Parameters about the vehicle were experimentally determined to increase the accuracy of the model which would increase the chances of successful flight operations.

Flight demonstrations were conducted to evaluate the abilities and performance of the control system, along with testing the interface abilities and reliability between a universal ground control station (UGCS) and the aircraft. Lastly, the model was revisited with the input data from the flight control experiment and the output captured was evaluated against the output of the model system to evaluate effectiveness, reliability, and accuracy of the model. The results of the comparison showed that the computer simulation was accurate in predicting attitude and altitude of the vehicle to that of the realized system.
Master of Science
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6

Isaksen, Trond Willi. "Discrete-Time Backstepping Design Applied to Position Tracking Control of an Electro-Pneumatic Clutch Actuator." Thesis, Norwegian University of Science and Technology, Department of Engineering Cybernetics, 2007. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-8743.

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This thesis investigates different methods of backstepping controller design for an electro-pneumatic clutch actuator used in heavy duty trucks. The first part of the thesis is a literature study, where the subject is control of nonlinear-sampled data systems in general. Sampled-data systems contain a continuous-time plant and a digitally implemented controller, which in general make them harder to analyze and control than systems that operate purely in the continuous-time or discrete-time domain. The available theory of nonlinear sampled-data control systems is scarce, but three different methods are described in this thesis; emulation design, direct discrete-time design, and sampled-data design. The electro-pneumatic clutch actuator is controlled using a continuous-time backstepping controller implemented digitally. This is essentially the procedure of emulation design and is the common, if not only, method used in practical engineering tasks so far. However, redesign of the continuous-time controller using the direct discrete-time method shows great potential of improving performance and robustness of sampled-data systems. Direct discrete-time design is based on an approximate discrete-time model of the plant, giving the controller a structure that accounts for the sampling of the hybrid system. Potentially, one can utilize slower sampling in the system by implementing a discrete-time controller into the digial computer instead of a continuous-time one. Examples and case studies that prove the improvement one can achieve by chosing the direct discrete-time design is included in the first part of the thesis. Both a third- and fifth-order model of the electro-pneumatic clutch actuator are presented, and used as a basis for continuous- and discrete-time state-feedback backstepping controllers. These controllers are simulated with different sampling intervals to show their performance under different circumstances. The continuous-time controllers prove good reference trajectory tracking of the pure continuous-time system, while the performance of the sampled-data systems descends as higher sampling intervals are used. And, as opposed to the mentioned examples and case studies, the controller designed when taking the sampling into account shows no sign to outperform the controller that was designed without considering the sampling, at least not for the relative fast sampling the clutch actuator operates with.

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7

Riccardo, Zanella Riccardo. "Decoupled Controllers for Mobile Manipulation with Aerial Robots : Design, Implementation and Test." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187649.

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Анотація:
This work considers an aerial robot system composed of an Unmanned Aerial Vehicle (UAV) and a rigid manipulator, to be employed in mobile manipulation tasks. The strategy adopted for accomplishing the aerial manipulation is a decomposition of the previous system in two decoupled subsystems: one concerning the center of mass of the aerial robot; and another concerning the manipulator's orientation. Two Lyapunov-based controllers are developed, using a back stepping procedure, for solving the trajectory tracking problems related to the two subsystems. In the controller design, three inputs are assumed available: a translational acceleration along a body direction of the UAV; an angular velocity vector of this body rotation; and, finally, a torque at the spherical, or revolute, joint connecting the UAV and the manipulator. The first two inputs are generated by the same controller in order to drive the center of mass on a desired trajectory; while a second controller drives, through the third input, the manipulator's orientation to track a desired orientation. Formal stability proofs are provided that guarantee asymptotic trajectory tracking. Finally, the proposed control strategy is experimentally tested and validated.
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8

Akyürek, Emre. "Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms." Thesis, Brunel University, 2015. http://bura.brunel.ac.uk/handle/2438/11671.

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Анотація:
This thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that two different behaviours are accessible from a single robot hand, because of its fingers architecture which permits them to bend in both ways. On one hand, the robotic device can therefore behave as a right hand whereas, on another hand, it can behave as a left hand. The main contribution of this project is its ambidextrous feature, totally unique in robotics area. Moreover, the Ambidextrous Robot Hand is actuated by pneumatic artificial muscles (PAMs), which are not commonly used to drive robot hands. The type of the actuators consequently adds more originality to the project. The primary challenge is to reach an ambidextrous behaviour using PAMs designed to actuate non-ambidextrous robot hands. Thus, a feasibility study is carried out for this purpose. Investigating a number of mechanical possibilities, an ambidextrous design is reached with features almost identical for its right and left sides. A testbench is thereafter designed to investigate this possibility even further to design ambidextrous fingers using 3D printing and an asymmetrical tendons routing engineered to reduce the number of actuators. The Ambidextrous Robot Hand is connected to a remote control interface accessible from its website, which provides video streaming as feedback, to be eventually used as an online rehabilitation device. The secondary main challenge is to implement control algorithms on a robot hand with a range twice larger than others, with an asymmetrical tendons routing and actuated by nonlinear actuators. A number of control algorithms are therefore investigated to interact with the angular displacement of the fingers and the grasping abilities of the hand. Several solutions are found out, notably the implementations of a phasing plane switch control and a sliding-mode control, both specific to the architecture of the Ambidextrous Robot Hand. The implementation of these two algorithms on a robotic hand actuated by PAMs is almost as innovative as the ambidextrous design of the mechanical structure itself.
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9

Beren, Eric B. "Methods for optimization based fixed-order control design /." Online version, 1997. http://bibpurl.oclc.org/web/29659.

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10

Grace, A. C. W. "Computer-aided control system design using optimization methods." Thesis, Bangor University, 1989. https://research.bangor.ac.uk/portal/en/theses/computeraided-control-system-design-using-optimization-methods(077b2955-3ca3-4c71-99d8-003098f9c378).html.

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Анотація:
Control System Design methods are presented in terms of optimization techniques that incorporate Multi-Objective design criteria. Computer-Aided Control System Design (CACSD) environments make the approach easy-to-use and accessible to the practising control engineer. Two CACSD environments have been developed using different versions of the MATLAB package, one interfacing the ADS optimization package to an upgraded FORTRAN version of MATLAB, the other using Non-linear Programming algorithms coded in the PRO-MATLAB command language. In both environments, optimization problems are entered interactively and in a flexible manner using simple interpreted commands and programs. A Control System Design method has been implemented using optimal control theory and integral quadratic measures of control. The theory has been developed to incorporate a large number of design options, control structures and disturbance types. An evolutionary design process is used so that the control order and number of design criteria are systematically increased to incorporate more complex control structures and a wide set of performance objectives. In the later stages of this evolutionary design process, a Multi-Objective design strategy, known as the Goal Attainment method, is used to address multiple performance objectives.
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Книги з теми "Backstepping methods in control design"

1

Rudra, Shubhobrata, Ranjit Kumar Barai, and Madhubanti Maitra. Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems. Singapore: Springer Singapore, 2017. http://dx.doi.org/10.1007/978-981-10-1956-2.

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Petersen, Ian R., Valery A. Ugrinovskii, and Andrey V. Savkin. Robust Control Design Using H-∞ Methods. London: Springer London, 2000. http://dx.doi.org/10.1007/978-1-4471-0447-6.

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Grimble, Michael J., and Vladimir Kučera, eds. Polynomial Methods for Control Systems Design. London: Springer London, 1996. http://dx.doi.org/10.1007/978-1-4471-1027-9.

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J, Grimbke Michael, and Kučera Vladimír 1943-, eds. Polynomial methods for control systems design. London: Springer, 1996.

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5

M, Gupta Madan, and Chen C. H. 1937-, eds. Adaptive methods for control system design. New York: Institute of Electrical and Electronics Engineers, 1986.

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6

Facility, Dryden Flight Research, ed. Model reduction methods for control design. Edwards, Calif: National Aeronautics and Space Administration, Ames Research Center, Dryden Flight Research Facility, 1988.

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7

Borggaard, Jeff, John Burns, Eugene Cliff, and Scott Schreck, eds. Computational Methods for Optimal Design and Control. Boston, MA: Birkhäuser Boston, 1998. http://dx.doi.org/10.1007/978-1-4612-1780-0.

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1948-, Johnson Michael A., Moradi Mohammad H. 1967-, and Crowe J, eds. PID control: New identification and design methods. New York: Springer, 2005.

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9

Modern control systems: A manual of design methods. Englewood Cliffs, NJ: Prentice-Hall International, 1986.

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Kokotović, Petar V. Singular perturbation methods in control: Analysis and design. London: Academic Press, 1986.

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Частини книг з теми "Backstepping methods in control design"

1

Wang, Lijun, Jiaxuan Yan, Tianyu Cao, and Ningxi Liu. "Manipulator Control Law Design Based on Backstepping and ADRC Methods." In Lecture Notes in Electrical Engineering, 261–69. Singapore: Springer Singapore, 2020. http://dx.doi.org/10.1007/978-981-15-8450-3_28.

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Kocamaz, Uğur Erkin, Yilmaz Uyaroğlu, and Sundarapandian Vaidyanathan. "Control of Shimizu–Morioka Chaotic System with Passive Control, Sliding Mode Control and Backstepping Design Methods: A Comparative Analysis." In Advances and Applications in Chaotic Systems, 409–25. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-30279-9_17.

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3

Wei, Yang, Haojun Xu, Yuan Xue, Zhe Li, and Hongfeng Tian. "Flight Path Angle Controller Design Based on Adaptive Backstepping Terminal Sliding Mode Control Method." In Lecture Notes in Electrical Engineering, 2466–79. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-3305-7_197.

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Freeman, Randy A., and Petar Kokotović. "Robust Backstepping." In Robust Nonlinear Control Design, 101–36. Boston, MA: Birkhäuser Boston, 2008. http://dx.doi.org/10.1007/978-0-8176-4759-9_5.

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Stauter, Peter, Hubert Gattringer, Wolfgang Höbart, and Hartmut Bremer. "Passivity Based Backstepping Control of an Elastic Robot." In ROMANSY 18 Robot Design, Dynamics and Control, 315–22. Vienna: Springer Vienna, 2010. http://dx.doi.org/10.1007/978-3-7091-0277-0_37.

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Mackenroth, Uwe. "Classical Design Methods." In Robust Control Systems, 63–84. Berlin, Heidelberg: Springer Berlin Heidelberg, 2004. http://dx.doi.org/10.1007/978-3-662-09775-5_4.

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Ramos, Germán A., Ramon Costa-Castelló, and Josep M. Olm. "Design Methods." In Digital Repetitive Control under Varying Frequency Conditions, 27–34. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-37778-5_4.

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8

Rudra, Shubhobrata, Ranjit Kumar Barai, and Madhubanti Maitra. "Block Backstepping Control of the Underactuated Mechanical Systems." In Block Backstepping Design of Nonlinear State Feedback Control Law for Underactuated Mechanical Systems, 31–52. Singapore: Springer Singapore, 2016. http://dx.doi.org/10.1007/978-981-10-1956-2_3.

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Vaidyanathan, Sundarapandian, Babatunde A. Idowu, and Ahmad Taher Azar. "Backstepping Controller Design for the Global Chaos Synchronization of Sprott’s Jerk Systems." In Chaos Modeling and Control Systems Design, 39–58. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-13132-0_3.

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Amato, Francesco, Massimiliano Mattei, Stefano Scala, and Leopoldo Verde. "Design via LQ methods." In Robust Flight Control, 444–63. Berlin, Heidelberg: Springer Berlin Heidelberg, 1997. http://dx.doi.org/10.1007/bfb0113872.

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Тези доповідей конференцій з теми "Backstepping methods in control design"

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Naseri, E., A. Ranjbar, and S. H. HosseinNia. "Backstepping Control of Fractional-Order Chen System." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-86950.

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In this paper, Chaos and its control is studied in fractional-order Chen system. Backstepping method is proposed to synchronize two identical fractional-order Chen systems. The simulation results show that this method can effectively synchronize two identical chaotic systems.
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2

Peng Wu and Ming Yang. "Design of missile attitude controller based on backstepping method." In 2008 7th World Congress on Intelligent Control and Automation. IEEE, 2008. http://dx.doi.org/10.1109/wcica.2008.4593579.

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3

Wu, Zhigang, and Yangmin Li. "Design of Control Strategy for a Novel Compliant Flexure-Based Microgripper With Two Jaws." In ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2015. http://dx.doi.org/10.1115/detc2015-46869.

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This paper proposes a novel compliant flexure-based microgripper with a second order amplifier including Scott-Russell magnification mechanism (SRMM) and lever amplifier. Both the dynamic model of the system and the Bouc-Wen hysteresis model are established and identified through using least square optimization method. For eliminating the hysteresis phenomenon of the actuator, compensation control method based on inverse dynamic model is proposed. A novel control strategy based on adaptive backstepping sliding model control (ABSMC) with compensator is presented to control the nonlinear system. Simulation results demonstrate that the performance of proposed control strategy is superior to conventional backstepping sliding mode control (CBSMC).
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He, Jin-bao, Guo-jun Li, and Fang-xiang Cao. "Dynamic Terminal Sliding Mode Control Method Based on Backstepping Design." In 2010 International Conference on System Science, Engineering Design and Manufacturing Informatization (ICSEM). IEEE, 2010. http://dx.doi.org/10.1109/icsem.2010.18.

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Zhao, Xinhua, Xue Wang, Litao Jing, and Kaiyan Niu. "Backstepping Control Design of Supercavitating Vehicles Based on Cascade Method." In 2021 IEEE 7th International Conference on Control Science and Systems Engineering (ICCSSE). IEEE, 2021. http://dx.doi.org/10.1109/iccsse52761.2021.9545103.

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Ting, Liu, Jiang Nan, and Jing Yuanwei. "Nonlinear large disturbance attenuation controller design based on backstepping method." In 2013 25th Chinese Control and Decision Conference (CCDC). IEEE, 2013. http://dx.doi.org/10.1109/ccdc.2013.6560925.

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Bu, Fanping, and Bin Yao. "Nonlinear Model Based Coordinated Adaptive Robust Control of Electro-Hydraulic Robotic Manipulators: Methods and Comparative Studies." In ASME 2001 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/imece2001/dsc-24581.

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Abstract Compared to conventional robot manipulators driven by electrical motors, hydraulic robot arms have richer nonlinear dynamics and stronger couplings among various joints (or hydraulic cylinders). This paper focuses on the physical model based coordinated adaptive robust control (ARC) strategies that explicitly take into account the strong coupling among various hydraulic cylinders (or joints). In our recent studies, two such methods were proposed to avoid the need of acceleration feedback in doing ARC backstepping designs. The first method uses an observer to recover the state needed for the ARC backstepping design. The second method utilizes the property that the adjoint matrix and the determinant of the inertial matrix can be linearly parametrized by certain suitably selected parameters and employ certain over-parametrizing techniques. Theoretically, both the resulting ARC controllers guarantee a prescribed output tracking transient performance and final tracking accuracy while achieving asymptotic output tracking in the presence of parametric uncertainties only. This paper focuses on the comparative studies of these two methods under various practical constraints. Extensive simulation results which are based on a three degree-of-freedom (DOF) hydraulic robot arm are presented to illustrate the advantages and drawbacks of each method.
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8

Ye, Hui, Wentao Xue, and Xiaofei Yang. "Backstepping-Based Diving Control Design for Underactuated AUVs Combined with ILOS Method." In 2018 37th Chinese Control Conference (CCC). IEEE, 2018. http://dx.doi.org/10.23919/chicc.2018.8483805.

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9

Vatankhah, Ramin, Mohammad Abediny, Hoda Sadeghian, and Aria Alasty. "Backstepping Boundary Control for Unstable Second-Order Hyperbolic PDEs and Trajectory Tracking." In ASME 2009 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2009. http://dx.doi.org/10.1115/detc2009-87038.

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In this paper, a problem of boundary feedback stabilization of second order hyperbolic partial differential equations (PDEs) is considered. These equations serve as a model for physical phenomena such as oscillatory systems like strings and beams. The controllers are designed using a backstepping method, which has been recently developed for parabolic PDEs. With the integral transformation and boundary feedback the unstable PDE is converted into a system which is stable in sense of Lyapunov. Then taylorian expansion is used to achieve the goal of trajectory tracking. It means design a boundary controller such that output of the system follows an arbitrary map. The designs are illustrated with simulations.
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Helian, Bobo, Zheng Chen, Bin Yao, Yi Yan, and Chiang Lee. "Adaptive Robust Control of a Pump Control Hydraulic System." In ASME 2017 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dscc2017-5076.

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Pump control hydraulic systems have been widely used in industry by the advantages of no throttling loss and overflow loss as well as high power-to-volume ratio. However, the characteristics of high order dynamics, high nonlinearities and disturbances make the accurate position control of those systems very challenging. And to implement the controllers easily, some dynamics such as servo motor loop are usually ignored in most of existing methods, which may lead to the limitation of closed-loop bandwidth and disturbance rejection ability. In this paper, adaptive robust control (ARC) algorithm is utilized in a pump control electro-hydrualic system. The ARC guarantees the stability and high performance in the presence of model uncertainties and nonlinear disturbances. For the high-order of the hydraulic system, a modified three-step backstepping method is constructed which is covering the whole electro-hydraulic system. The servo motor-pump dynamics is taken into considered in the three-step adaptive backstepping controller design. Theoretical control performance based on Lyapunov functions and the simulation results proved that the control strategy this paper proposed achieved high performance in spite of the nonlinearities and uncertainties.
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Звіти організацій з теми "Backstepping methods in control design"

1

Steinberg, Marc L., and Anthony B. Page. Nonlinear Adaptive Flight Control with a Backstepping Design Approach. Fort Belvoir, VA: Defense Technical Information Center, January 1998. http://dx.doi.org/10.21236/ada350986.

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Borggaard, J. T., J. A. Burns, E. M. Cliff, and T. Iliescu. Computational Methods for Design, Control and Optimization. Fort Belvoir, VA: Defense Technical Information Center, October 2007. http://dx.doi.org/10.21236/ada472915.

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Watson, Layne T. Homotopy Methods in Control System Design and Analysis. Fort Belvoir, VA: Defense Technical Information Center, April 1992. http://dx.doi.org/10.21236/ada251641.

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Rugh, Wilson J. Analysis and Design Methods for Nonlinear Control Systems. Fort Belvoir, VA: Defense Technical Information Center, March 1990. http://dx.doi.org/10.21236/ada221621.

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Frosch, Robert, Jacob Bice, and Jared Erickson. Design Methods for the Control of Restrained Shrinkage Cracking. West Lafayette, IN: Purdue University, 2006. http://dx.doi.org/10.5703/1288284313363.

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Frosch, Robert, Jacob Bice, and Jared Erickson. Design Methods for the Control of Restrained Shrinkage Cracking. West Lafayette, IN: Purdue University, 2006. http://dx.doi.org/10.5703/1288284313452.

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Ball, Sydney J., Thomas L. Wilson Jr, and Richard Thomas Wood. Advanced Control and Protection system Design Methods for Modular HTGRs. Office of Scientific and Technical Information (OSTI), June 2012. http://dx.doi.org/10.2172/1047629.

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Phero, Timothy, Amey Khanolkar, Kiyo Fujimoto, James Smith, and Michael McMurtrey. Development of Quality Control Methods for Robust and Reliable Sensor Design. Office of Scientific and Technical Information (OSTI), October 2022. http://dx.doi.org/10.2172/1901810.

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Dumbacher, S. Multivariable Methods for the Design, Identification and Control of Large Space Structures. Volume 2. Optimal. Fort Belvoir, VA: Defense Technical Information Center, July 1989. http://dx.doi.org/10.21236/ada226699.

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Qamhia, Issam, and Erol Tutumluer. Evaluation of Geosynthetics Use in Pavement Foundation Layers and Their Effects on Design Methods. Illinois Center for Transportation, August 2021. http://dx.doi.org/10.36501/0197-9191/21-025.

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This report presents findings of a research effort aimed at reviewing and updating existing Illinois Department of Transportation (IDOT) specifications and manuals regarding the use of geosynthetic materials in pavements. The project consisted of three tasks: evaluate current IDOT practice related to the use of geosynthetics; review research and state of the practice on geosynthetics applications, available products, design methods, and specifications; and propose recommendations for geosynthetic solutions in pavements to modernize IDOT’s practices and manuals. The review of IDOT specifications revealed that geotextiles are the most used geosynthetic product in Illinois, followed by geogrids. Several of IDOT’s manuals have comprehensive guidelines to properly design and construct pavements with geosynthetics, but several knowledge gaps and potential areas for modernization and adoption of new specifications still exist. Based on the review of the available design methods and the most relevant geosynthetic properties and characterization methods linked to field performance, several updates to IDOT’s practice were proposed. Areas of improvement are listed as follows. First, establish proper mechanisms for using geogrids, geocells, and geotextiles in subgrade restraint and base stabilization applications. This includes using shear wave transducers, i.e., bender elements, to quantify local stiffness enhancements and adopting the Giroud and Han design method for subgrade restraint applications. Second, update IDOT’s Subgrade Stability Manual to include property requirements for geogrids, geotextiles, and geocells suitable for subgrade restraint applications. Third, establish proper standards on stabilization, separation, and pumping resistance for geotextiles by incorporating recent research findings on geotextile clogging and permeability criteria. Fourth, promote the use of modern geosynthetic products, such as geotextiles with enhanced lateral drainage, and fifth, elaborate on proper methods for construction/quality control measures for pavements with geosynthetics.
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