DESIGN OF ADAPTIVE BACKSTEPPING WITH GRAVITATIONAL SEARCH ALGORITHM FOR NONLINEAR SYSTEM
Adaptive backstepping controller is designed for tracking purpose of nonlinear system with unknown parameter is injected to it. Gravitational search algorithm (GSA) is integrated with the designed controller in order to automatically tune its control parameters and adaptation gain since the tracki...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
www.jatit.org
2014
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/12353/1/Jatit_28Vol59No2.pdf http://eprints.utem.edu.my/id/eprint/12353/ |
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| Summary: | Adaptive backstepping controller is designed for tracking purpose of nonlinear system with unknown
parameter is injected to it. Gravitational search algorithm (GSA) is integrated with the designed controller
in order to automatically tune its control parameters and adaptation gain since the tracking performance of
the controller relies on these parameters. Performance evaluation is observed based on the tracking output
and the tracking error between reference input and the system’s output. The effectiveness of the adaptive
backstepping controller is verified by looking at the lowest amount value of Sum of Squared Error (SSE)
attained from the simulation process. The results show that the system’s output follow the reference input
given with remarkably small tracking error. |
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