• Proceedings of the KIEE Conference
• /
• summer
• /
• pp.821-823
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.633-635
• /
• 1997

In this paper we present a scheme of adaptive backstepping controller for nonlinear system. Backstepping approach has recently been adopted as a design tool for nonlinear control and especially backstepping with modular design used to seperately design controller and identifier. In the modular design the nonlinear damping term is contained in controller for input-to-state stability (ISS). We compare the ISS controller, which used in general case, with the weak-ISS controller that attenuates the effect of nonlinear damping term and prove their advantages and disadvantages by simulation.

• Journal of Power Electronics
• /
• v.7 no.1
• /
• pp.1-12
• /
• 2007

Novel nonlinear backstepping control with integrated adaptive control function is developed for high-performance positioning control systems. The proposed schemes are synthesized by a systematic approach and implemented based on a modern low-cost DSP controller, TMS320C32. A baseline backstepping control scheme is derived first, and is then extended to include a nonlinear adaptive control against the system parameter changes and load variations. The backstepping control utilizes Lyapunov function to guarantee the convergence of the position tracking error. The final control algorithm is a convenient in the implementation of a practical 32-bit DSP controller. The new control system can achieve superior performance over the conventional nested PI controllers, with improved position tracking, control bandwidth, and robustness against external disturbances, which is demonstrated by experimental results.

• Proceedings of the IEEK Conference
• /
• 2009.05a
• /
• pp.76-78
• /
• 2009

This paper considers the problem of global adaptive regulation for a class of nonlinear systems which have multiple unknown virtual control coefficient. By using a new parameter estimator and backstepping technique, we design a smooth state feedback control law, parameter update laws that estimate the unknown virtual control coefficients, and a continuously differentiable Lyapunov function which is positive definite and proper.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.48.1-48
• /
• 2001

In this paper, we present a global adaptive output feedback control scheme for a class of uncertain nonlinear systems to which adaptive observer backstepping method may not be applicable directly. The allowed output feedback structure includes quadratic and multiplicative dependency of unmeasured states. Our novel design technique employs a change of coordinates and adaptive backstepping. With these proposed tools, we can remove linear and quadratic dependence on the unmeasured states in the state equation. Also, the multiplication of the two unmeasured states can be eliminated ...

• Journal of Power Electronics
• /
• v.19 no.5
• /
• pp.1193-1202
• /
• 2019

A SMPMSM drive system is a typical nonlinear system with time-varying parameters and unmodeled dynamics. The speed outer loop and current inner loop control structures are coupled and coexist with various disturbances, which makes the speed control of SMPMSM drive systems challenging. First, an ultra-local model of a PMSM driving system is established online based on the algebraic estimation method of model-free control. Second, based on the backstepping control framework, model-free adaptive integral backstepping (MF-AIB) control is proposed. This scheme is applied to the permanent magnet synchronous motor (PMSM) drive system of an electric vehicle for the first time. The validity of the proposed control scheme is verified by system simulations and experimental results obtained from a SMPMSM drive system bench test.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.5
• /
• pp.406-413
• /
• 2007

This paper proposes a self-recurrent wavelet neural network(SRWNN) based adaptive backstepping control technique for the robust steering control of autonomous underwater vehicles(AUVs) with unknown model uncertainties and external disturbance. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the steering model of AUV. The adaptation laws for the weights of SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for the on-line control of AUV. Finally, simulation results for steering control of an AUV with unknown model uncertainties and external disturbance are included to illustrate the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
• /
• 2008.10b
• /
• pp.77-78
• /
• 2008

This paper presents to control speed of induction motors with uncertainties. We use an adaptive backstepping controller with fuzzy neural networks(FNNs) and model reference adaptive system(MRAS) at Indirect vector control method. The adaptive backstepping controller using FNNs can control speed of induction motors even we have a minimum of information. And this controller can be used to approximate most of uncertainties which are derived from unknown motor parameters, load torque such as disturbances. MRAS estimates to rotor resistance and also can find optimal flux to minimize power losses of Induction motor. Indirect vector PI current controller is used to keep rotor flux constant without measuring or estimating the rotor flux. Simulation and experiment results are verified the effectiveness of this proposed approach.

• Journal of the Korean Society for Precision Engineering
• /
• v.23 no.7 s.184
• /
• pp.24-29
• /
• 2006

• International Journal of Control, Automation, and Systems
• /
• v.5 no.3
• /
• pp.269-282
• /
• 2007

This paper presents a robust control method via the intelligent adaptive backstepping design technique for stable walking of nine-link biped robots with unknown model uncertainties and external disturbances. In our control structure, the self recurrent wavelet neural network(SRWNN) which has the information storage ability is used to observe the uncertainties of the biped robots. The adaptation laws for all weights of the SRWNN are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Also, we prove that all signals in the closed-loop adaptive system are uniformly ultimately bounded. Through computer simulations of a nine-link biped robot with model uncertainties and external disturbances, we illustrate the effectiveness of the proposed control system.