Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique
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 mo...
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my.utem.eprints.123582015-05-28T04:24:16Z http://eprints.utem.edu.my/id/eprint/12358/ Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique Md Rozali, Sahazati Kamarudin, Muhammad Nizam Rahmat, Mohd Fua'ad Husain, Abdul Rashid TK Electrical engineering. Electronics Nuclear engineering 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. Elsevier 2013 Article NonPeerReviewed video/mpeg en http://eprints.utem.edu.my/id/eprint/12358/1/Asymptotic_Tracking_Position_Control_for_Nonlinear_Systems_using.pdf Md Rozali, Sahazati and Kamarudin, Muhammad Nizam and Rahmat, Mohd Fua'ad and Husain, Abdul Rashid (2013) Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique. Procedia Engineering , 53. pp. 255-263. ISSN 1877-7058 |
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TK Electrical engineering. Electronics Nuclear engineering Md Rozali, Sahazati Kamarudin, Muhammad Nizam Rahmat, Mohd Fua'ad Husain, Abdul Rashid Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique |
description |
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. |
format |
Article |
author |
Md Rozali, Sahazati Kamarudin, Muhammad Nizam Rahmat, Mohd Fua'ad Husain, Abdul Rashid |
author_facet |
Md Rozali, Sahazati Kamarudin, Muhammad Nizam Rahmat, Mohd Fua'ad Husain, Abdul Rashid |
author_sort |
Md Rozali, Sahazati |
title |
Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique |
title_short |
Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique |
title_full |
Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique |
title_fullStr |
Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique |
title_full_unstemmed |
Asymptotic Tracking Position Control for Nonlinear Systems using BacksteppingTechnique |
title_sort |
asymptotic tracking position control for nonlinear systems using backsteppingtechnique |
publisher |
Elsevier |
publishDate |
2013 |
url |
http://eprints.utem.edu.my/id/eprint/12358/1/Asymptotic_Tracking_Position_Control_for_Nonlinear_Systems_using.pdf http://eprints.utem.edu.my/id/eprint/12358/ |
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1665905495809982464 |
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13.160551 |