• Title, Summary, Keyword: backstepping

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Nonlinear Control Law for Spacecraft Slew Maneuver using Backstepping Control Law (Backstepping 제어기법을 이간한 위성체 선회기동의 비선형 제어기법)

  • 김기석;김유단
    • 제어로봇시스템학회:학술대회논문집
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    • pp.4-4
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    • 2000
  • In this paper, the backstepping control method that is useful for cascade systems is applied to the slew maneuver of the spacecraft. The quaternion is used for representing the attitude of the spacecraft, because the reference trajectory of angular velocity has simple mathematical form. The conventional backstepping control has severa] problems such as slow convergence, trivial cancelling of nonlinear terms, and excessive control input. To overcome these problems, the modified backstepping control method which is redesign of Lyapunov function is proposed. To design a tracking function for angular velocity, it is necessary to estimate the process of maximum angular velocity, and therefore the estimation procedure using Bellman-Gronwall inequality is developed. To verify the effectiveness of the proposed control law, numerical simulation is performed and the results are compared with the exiting control scheme.

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Global Chaos Synchronization of WINDMI and Coullet Chaotic Systems using Adaptive Backstepping Control Design

  • Rasappan, Suresh;Vaidyanathan, Sundarapandian
    • Kyungpook Mathematical Journal
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    • v.54 no.2
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    • pp.293-320
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    • 2014
  • In this paper, global chaos synchronization is investigated for WINDMI (J. C. Sprott, 2003) and Coullet (P. Coullet et al, 1979) chaotic systems using adaptive backstepping control design based on recursive feedback control. Our theorems on synchronization for WINDMI and Coullet chaotic systems are established using Lyapunov stability theory. The adaptive backstepping control links the choice of Lyapunov function with the design of a controller and guarantees global stability performance of strict-feedback chaotic systems. The adaptive backstepping control maintains the parameter vector at a predetermined desired value. The adaptive backstepping control method is effective and convenient to synchronize and estimate the parameters of the chaotic systems. Mainly, this technique gives the flexibility to construct a control law and estimate the parameter values. Numerical simulations are also given to illustrate and validate the synchronization results derived in this paper.

Adaptive Backstepping Control of Induction Motors Using Neural Network (신경회로망을 이용한 유도전동기의 적응 백스테핑 제어)

  • Lee, Eun-Wook;Yang, Hai-Won
    • Proceedings of the KIEE Conference
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    • pp.452-455
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    • 2003
  • Based on a field-oriented model of induction motor, adaptive backstepping approach using neural network(RBFN) is proposed for the control of induction motor in this paper. In order to achieve the speed regulation with the consideration of avoiding singularity and improving power efficiency, rotor angular speed and flux amplitude tracking objectives are formulated. rotor resistance uncertainty is compensated by adaptive backstepping and mechanical lumped uncertainty such as load torque disturbance, inertia moment, friction by RBFN. Simulation is provided to verify the effectiveness of the proposed approach.

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Power System Stabilizer by Nonlinear Observer Backstepping Output Feedback (Nonlinear Observer Backstepping 출력 궤환 제어에 의한 전력계통안정화장치)

  • Lee, Sang-Seung;Li, Shan-Ying;Park, Jong-Keun;Moon, Sung-Il;Yoon, Yong-Tae
    • Proceedings of the KIEE Conference
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    • pp.237-239
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    • 2004
  • 이 논문에서는 Nonlinear Observer Backstepping 출력 궤환 제어에 의한 비선형 전력계통안정화장치(NPSS)를 개발하였다. 이 기법은 출력단자의 측정만으로 매우 강한 전력계통의 고유한 특징인 강한 비선형을 처리할 수 있는 바람직한 제어기를 구성할 수가 있다. 첫 번째로 비선형 관측기를 통하여 측정할 수 없는 부분의 상태들을 대신할 수 있는 출력 궤환 관측기를 구성하는 것이다. 두 번째로 이렇게 구성된 관측기에 매번 상태를 반영할 수 있는 backstepping 제어기를 적응하는 것이다. 시뮬레이션을 통한 제안된 제어기의 효과는 비 제어시, 기존의 Lead-Lag PSS, 그리고 제안된 Nonlinear Observer backstepping 출력 궤환 제어에 기준한 비선형 PSS를 비교 검토하였다.

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Speed controller study of Switched Reluctance Motor using An Adaptive Backstepping Control (적응 백스텝핑 제어를 이용한 스위치드 릴럭턴스 전동기 속도제어기 연구)

  • Oh Juhwan;Lee Jinwoo;Kwon Byungil
    • Proceedings of the KIEE Conference
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    • pp.821-823
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    • 2004
  • In this paper, a backstepping speed controller applied in SRM is presented. The driver of SRM is generally planned with a PI controller. A PI controller is becomes a satisfied structure in the system. it is used in position and speed control loops. However, when the system parameter uncertainties large inertia and load disturbance, it will not be able to expect a satisfied efficiency. Therefore, a backstepping control law was researched, which is able application even to a linear system as well as a nonlinear and it is more excellent than a origin adaptive control law. In this paper, a backstepping control law applied the drive system of SRM was used in the drive controller. The computer simulation result clearly show that the applied backstepping controller can track the speed reference signal generated by internal signals.

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Constrained Adaptive Backstepping Controller Design for Aircraft Landing in Wind Disturbance and Actuator Stuck

  • Yoon, Seung-Ho;Kim, You-Dan;Park, Sang-Hyuk
    • International Journal of Aeronautical and Space Sciences
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    • v.13 no.1
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    • pp.74-89
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    • 2012
  • An adaptive backstepping controller is designed for the automatic landing of a fixed-wing aircraft. The backstepping control scheme is adopted by using the nonlinear six degree-of-freedom dynamics of the aircraft during the landing phase. The adaptive law is integrated along with the backstepping controller in order to estimate the aircraft modeling errors as well as the external disturbance. The dynamic constraints of the states and the actuator inputs are taken into account in the parameter adaptation. This is done to prevent an aggressive adaptation and to provide reliable control commands. Numerical simulations were performed to verify the performance of the proposed control law for the landing of the aircraft with the presence of gust and actuator stuck.

A Backstepping Control of LSM Drive Systems Using Adaptive Modified Recurrent Laguerre OPNNUO

  • Lin, Chih-Hong
    • Journal of Power Electronics
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    • v.16 no.2
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    • pp.598-609
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    • 2016
  • The good control performance of permanent magnet linear synchronous motor (LSM) drive systems is difficult to achieve using linear controllers because of uncertainty effects, such as fictitious forces. A backstepping control system using adaptive modified recurrent Laguerre orthogonal polynomial neural network uncertainty observer (OPNNUO) is proposed to increase the robustness of LSM drive systems. First, a field-oriented mechanism is applied to formulate a dynamic equation for an LSM drive system. Second, a backstepping approach is proposed to control the motion of the LSM drive system. With the proposed backstepping control system, the mover position of the LSM drive achieves good transient control performance and robustness. As the LSM drive system is prone to nonlinear and time-varying uncertainties, an adaptive modified recurrent Laguerre OPNNUO is proposed to estimate lumped uncertainties and thereby enhance the robustness of the LSM drive system. The on-line parameter training methodology of the modified recurrent Laguerre OPNN is based on the Lyapunov stability theorem. Furthermore, two optimal learning rates of the modified recurrent Laguerre OPNN are derived to accelerate parameter convergence. Finally, the effectiveness of the proposed control system is verified by experimental results.

Motion Control of Omnidirectional Mobile Platform for Path Following Using Backstepping Technique

  • Dinh, Viet-Tuan;Thinh, Doan-Phuc;Hoang, Giang;Kim, Hak-Kyeong;Oh, Sea-June;Kim, Sang-Bong
    • Journal of Ocean Engineering and Technology
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    • v.25 no.5
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    • pp.1-8
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    • 2011
  • This paper proposes a controller design for an omnidirectional mobile platform (OMP) with three wheels using backstepping control. A kinematic model and dynamic model of the system are presented. Based on the dynamic modeling, a backstepping controller is designed to stabilize the OMP when following a desired path. The controller is designed based on a backstepping control theory. It includes two steps: first, a virtual state and a stability function are introduced. Second, Lyapunov functions for the system are chosen and an equation for the virtual control that makes the system stabile is obtained. The system stability is guaranteed by the Lyapunov stability theory. The simulation and experimental results are presented to demonstrate the effectiveness of the proposed controller.

Adaptive Backstepping Hovering Control for a Quadrotor with Unknown Parameters (미지 파라미터를 갖는 쿼드로터의 적응 백스테핑 호버링 제어)

  • Lee, Keun Uk;Park, Jin Bae;Choi, Yoon Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.20 no.10
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    • pp.1002-1007
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    • 2014
  • This paper deals with the adaptive backstepping hovering control for a quadrotor with model parameter uncertainties. In this paper, the backstepping based technique is utilized to design a nonlinear adaptive controller which can compensate for the motor thrust factor and the drag coefficient of a quadrotor. First, the quadrotor nonlinear dynamics is derived using Newton-Euler formulation. In particular, we use the ${\pi}/4$ shifted coordinate for x- and y-axis of a quadrotor. Second, an adaptive backstepping based attitude and altitude tracking control method is presented. The system stability and the convergence of tracking errors are proven using the Lyapunov stability theory. Finally, the simulation results are given to verify the effectiveness of the proposed control method.

Nonlinear Adaptive Flight Control Using Neural Networks and Backstepping (신경회로망 및 Backstepping 기법을 이용한 비선형 적응 비행제어)

  • Lee, Taeyoung;Kim, Youdan
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.12
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    • pp.1070-1078
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    • 2000
  • A nonlinear adaptive flight control system is proposed using a backstepping controller with neural network controller. The backstepping controller is used to stabilize all state variables simultaneously without the two-timescale assumption that separates the fast dynamics, involving the angular rates of the aircraft, from the slow dynamics which includes angle of attack, sideslip angle, and bank angle. It is assumed that the aerodynamic coefficients include uncertainty, and an adaptive controller based on neural networks is used to compensate for the effect of the aerodynamic modeling error. It is shown by the Lyapunov stability theorem that the tracking errors and the weights of neural networks exponentially converge to a compact set. Finally, nonlinear six-degree-of-freedom simulation results for an F-16 aircraft model are presented to demonstrate the effectiveness of the proposed control law.

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