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Asymptotic tracking position control for nonlinear systems using backstepping technique

Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis.

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Main Authors: Sahazati, Md Rozali, Muhammad Nizam, Kamarudin, Mohd Fua'ad, Rahmat, Dr., Abdul Rashid, Husain
Other Authors: sahazati@utem.edu.my
Format: Working Paper
Language:English
Published: Malaysian Technical Universities Network (MTUN) 2013
Subjects:
Backstepping
Electrohydraulic actuator
Lyapunov design
Online Access:http://dspace.unimap.edu.my/xmlui/handle/123456789/26600
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spelling my.unimap-266002013-07-12T06:26:10Z Asymptotic tracking position control for nonlinear systems using backstepping technique Sahazati, Md Rozali Muhammad Nizam, Kamarudin Mohd Fua'ad, Rahmat, Dr. Abdul Rashid, Husain sahazati@utem.edu.my rashid@fke.utm.my Backstepping Electrohydraulic actuator Lyapunov design Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis. Backstepping is a technique developed for designing stabilizing controls for a special class of nonlinear dynamical systems. It is built from subsystems that radiate out from an irreducible system which can be stabilized using some other method. This method is based directly on the mathematical model of the examined system. It is developed by introducing new variables into it in a form depending on the state variables, controlling parameters and stabilizing functions. The stabilizing functions compensate for nonlinearities exists in the system which affect the stability of its operation. Backstepping can be used for tracking and regulation problem. With the aid of Lyapunov stability design, this paper presents control approach for asymptotical tracking. Electrohydraulic actuator system is chosen as numerical example for the designed controller. The performance of backstepping controller is then compared with unity feedback controller applied to the same system. The results show that backstepping controller produced better output tracking then unity feedback controller. 2013-07-12T06:26:10Z 2013-07-12T06:26:10Z 2012-11-20 Working Paper p. 41-45 http://hdl.handle.net/123456789/26600 en Proceedings of the Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 Malaysian Technical Universities Network (MTUN)
institution Universiti Malaysia Perlis
building UniMAP Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaysia Perlis
content_source UniMAP Library Digital Repository
url_provider http://dspace.unimap.edu.my/
language English
topic Backstepping
Electrohydraulic actuator
Lyapunov design
spellingShingle Backstepping
Electrohydraulic actuator
Lyapunov design
Sahazati, Md Rozali
Muhammad Nizam, Kamarudin
Mohd Fua'ad, Rahmat, Dr.
Abdul Rashid, Husain
Asymptotic tracking position control for nonlinear systems using backstepping technique
description Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis.
author2 sahazati@utem.edu.my
author_facet sahazati@utem.edu.my
Sahazati, Md Rozali
Muhammad Nizam, Kamarudin
Mohd Fua'ad, Rahmat, Dr.
Abdul Rashid, Husain
format Working Paper
author Sahazati, Md Rozali
Muhammad Nizam, Kamarudin
Mohd Fua'ad, Rahmat, Dr.
Abdul Rashid, Husain
author_sort Sahazati, Md Rozali
title Asymptotic tracking position control for nonlinear systems using backstepping technique
title_short Asymptotic tracking position control for nonlinear systems using backstepping technique
title_full Asymptotic tracking position control for nonlinear systems using backstepping technique
title_fullStr Asymptotic tracking position control for nonlinear systems using backstepping technique
title_full_unstemmed Asymptotic tracking position control for nonlinear systems using backstepping technique
title_sort asymptotic tracking position control for nonlinear systems using backstepping technique
publisher Malaysian Technical Universities Network (MTUN)
publishDate 2013
url http://dspace.unimap.edu.my/xmlui/handle/123456789/26600
_version_ 1643794997459288064
score 13.18916

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