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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Malaysian Technical Universities Network (MTUN)
2013
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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) |
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Backstepping Electrohydraulic actuator Lyapunov design |
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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 |
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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 |
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13.209306 |