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A Review of Nonlinear Control for Electrohydraulic Actuator System in Automation
Published in Pankaj Agarwal, Lokesh Bajpai, Chandra Pal Singh, Kapil Gupta, J. Paulo Davim, Manufacturing and Industrial Engineering, 2021
Ashok Kumar Kumawat, Manish Rawat, Renu Kumawat, Raja Rout
Extended state observer was used for state estimation as well as for parameter variations and unmodeled dynamics (Yao et al., 2014). Furthermore, a nonlinear backstepping controller was implemented and exhibited good robustness with asymptotic performance. In two degrees of freedom with a robotic arm, some unmeasured states were estimated using ESO, and stabilities were categorised in three ways (Guo et al., 2016). Further stability was improved by applying backstepping control. Li et al. (2019) proposed a synchronisation control method based on the adaptive backstepping approach, and disturbances were estimated by using four ESOs. Mechanical and hydraulic dynamics uncertainties, as well controller parameters, were estimated using an ESO-based adaptive control scheme and exhibited good tracking control of single rod actuator systems (Wang et al., 2017). However, high feedback gain added instability in the controlled system. Moreover, the implementation of ESO was discussed, and good output response accuracy was identified for EHAS (Xu et al. 2019; Shi et al., 2018; Li et al., 2011).
Research on the VIENNA rectifier based on backstepping control
Published in Rodolfo Dufo-López, Jaroslaw Krzywanski, Jai Singh, Emerging Developments in the Power and Energy Industry, 2019
Junrui Wang, Sining Jia, Chuang Wang, Shang Xiang, Mengyue Zhang, Xiang Shan
Backstepping control is very flexible, and the key is the special handling of nonlinear links. For some nonlinear systems, feedback linearization cannot be used to achieve the target, and backstepping control can solve this problem well. Since the introduction of backstepping control, the uniqueness of its controller design process, and its superior processing ability for uncertain problems, have allowed it to become more and more popular among relevant scholars in recent years. Backstepping control realizes the design of the controller through step-by-step backstepping according to the control target, which can overcome the general change of system parameters during the running of the system. However, the design of the controller relies on accurate mathematical models. In order to achieve global stability, the physical quantities of the system can reach the ideal equilibrium point. In practical applications and experiments, it is usually combined with the Lyapunov adaptive law to achieve control objectives.
Backstepping Control
Published in Bogdan M. Wilamowski, J. David Irwin, Control and Mechatronics, 2018
The idea of backstepping is to design a controller recursively by considering some of the state variables as “virtual controls” and designing for them intermediate control laws. Backstepping achieves the goals of stabilization and tracking. The proof of these properties is a direct consequence of the recursive procedure because a Lyapunov function is constructed for the entire system including the parameter estimates. To give a clear idea of such development, we consider the following third-order strict-feedback system. () x˙1=x2+x12,x˙2=x3+x22,x˙3=u,
Robust backstepping ship autopilot design
Published in Journal of Marine Engineering & Technology, 2021
Aditi Bhatt, Swarup Das, S. E. Talole
The objective of good autopilot controller design for marine vessel lies in its ability to maintain and change the ship's course by controlling the movement of the rudder without compromising mechanical limitations imposed by the actuating mechanism in the presence of all the environmental disturbances (Triantafyllou and Hover 2003). The backstepping control strategy represents one of the most researched techniques that can be used to deal with mismatched uncertainties. Hence, its usage in the design of the ship autopilot controller has been explored numerous times facilitated by combining the backstepping controller with other design strategies. Backstepping is a recursive methodology which designs the controller in a systematic stepwise manner by breaking the actual control into smaller parts called virtual controls. It breaks down the problem into a number of lower-order control problems and a control law is recursively constructed. The conventional backstepping method involves the use of a positive definite function to construct the virtual and actual controls. In this work, the adaptive backstepping (ABS) design is employed wherein the control laws are recursively designed using input–output linearisation (IOL) theory (Slotine and Li 1991).
Development of a Novel Optimal Backstepping Control Algorithm of Magnetic Impeller-Bearing System for Artificial Heart Ventricle Pump
Published in Cybernetics and Systems, 2020
Amjad J. Humaidi, Saleem Khalefa Kadhim, Ahmed Sharhan Gataa
The Backstepping controller is based on a control approach that applies to a special type of nonlinear systems. The combination of the Lyapunov theory and backstepping control guarantees the stability of the closed-loop system as well as improves its dynamic performance. To design the backstepping controller, the system equations are first decomposed into subsystems. The subsystems are connected in cascade, where the input to the first subsystem automatically comes from the output of the second subsystem. Ideal input to the second subsystem is computed similarly to that first subsystem. Strong properties of tracking and global stability can be gained of nonlinear system controlled by a sequence of steps, which are always less or equal to the order of the system (Krstic, Kanellakopoulos, and Kokotovic 1995; Kokotovic and Arcak 2001).
Adaptive robust stabilisation of uncertain nonlinear dynamical systems: an improved backstepping approach
Published in International Journal of Control, 2018
In the conventional backstepping approach, it seems that there are two main shortcomings which may result in the limitative applications of backstepping design approach to practical control systems. The first one is that backstepping recursive procedure requires the repeated differentiation of virtual controllers, which results in a problem of the explosion complexity. In order to avoid this problem, in Swaroop, Hedrick, Yip, and Gerdes (2000), a dynamic surface design technique is presented for strict-feedback nonlinear systems where a first-order filter of the designed virtual control schemes is inserted at each step of backstepping algorithm. However, the dynamic surface design technique still requires the using of the dynamic surface in each virtual controller and the first-order low-pass filtering at each design step, which makes the resulting closed-loop control systems more complicated since the dimensions of the closed-loop control systems become higher. On the other hand, there are some works whereby integrating backstepping method with fuzzy and dynamic surface control technology, the problem of repeating computation of the derivatives of fictitious control functions might be relaxed (see, e.g. Tong & Li, 2013; Zhang, Zhu, & Yang, 2012, and the references therein). It should be also pointed out that in Cheng and Ou (2013) and Lin and Cheng (2016), uncertain multi-input dynamical systems in semi-strict feedback form are considered to obtain some asymptotic stability results and to alleviate the disadvantage of repeatedly computing the derivative of fictitious control functions.