• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.37.5-37
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• 2001

A robust control for robot manipulators actuated by induction motors using neural networks(NNs) is considered. The control is designed to compensate for nonlinear dynamics associated with the mechanical subsystem and the electrical subsystems only with the measurements of link position, link velocity and stator winding currents. Two-layer NNs are used to approximate unknown functions occurring from parameter variation during backstepping design process. Specially, through the use of nonlinear observers for rotor flux, observed backstepping controller is designed to achieve uniform ultimately bounded link position tracking of the given reference signal ...

• 한국정밀공학회지
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• 제23권9호
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• pp.92-101
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• 2006

In this paper a adaptive backstepping control scheme is proposed for control of a do motor driving a one-link manipulator. Fuzzy logic systems are used to approximate the unknown nonlinear function including the parametric uncertainty and disturbance throughout the entire electromechanical system. A compensation controller is also proposed to estimate the bound of approximation error. Thus the asymptotic stability of the closed-loop control system can be obtained. Numerical simulations are included to show the effectiveness of the proposed controller.

• 제어로봇시스템학회논문지
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• 제14권1호
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• pp.88-94
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• 2008

In this paper, a design method of a missile guidance command is presented considering the dynamics of missile control systems. The design of a new guidance command is based on the well-known PNG(propotional navigation guidance) laws. The missile control system dynamics cause the time-delays of the PN guidance command and degrade the performance of original guidance laws which are designed under the assumption of the ideal missile control systems. Using a backstepping method, these time-delay effects can be compensated. In order to implement the guidance command developed by the backstepping procedure, it is required to measure or calculate the successive time-derivatives of the original guidance command, PNG and other kinematic variables such as the relative distance. Instead of directly using the measurements of these variables and their successive derivatives, a simple disturbance observer technique is employed to estimate a guidance command described by them. Using Lyapunov method, the performance of a newly developed guidance command is analyzed against a target maneuvering with a bounded and time-varying acceleration.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권3호
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• pp.143-148
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• 2011

In this paper, a backstepping design is proposed to achieve stabilization and synchronization for the Lorenz-Stenflo (LS) chaotic system. The proposed method is a recursive Lyapunov-based scheme and provides a systematic procedure to design stabilizing controllers. The proposed controller enables stabilization of the chaotic motion and synchronization of two identical LS chaotic systems using only a single control input. Numerical simulations are presented to validate the proposed method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.779-781
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• 1999

In this paper we consider the TORA system and use backstepping to design active controllers for tracking; this problem is much more challenging than stabilization. We show that the control effort of the closed-loop system can be significantly improved by exploiting the backstepping design.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.588-591
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• 1998

In this paper, we present a robust adaptive backstepping output feedback controller for nonlinear systems perturbed by unmodelled dynamics and disturbances. Especially, backstepping technique with modular approach is used to separately design controller and identifier. The design of identifier is based on the observer-based scheme which possesses a strict passivity property of observer error system. We will use Switching-${\sigma}$ modification at the update law and the modified control law to attenuate the effects of undodelled dynamics and disturbances for nonlinear systems.

• 제어로봇시스템학회논문지
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• 제9권5호
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• pp.347-353
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• 2003

A nonlinear speed controller for a surface mounted permanent magnet synchronous motor (PMSM) based on a newly developed adaptive backstepping approach is presented To compensate parameter uncertainties and load torque disturbance, a nonlinear adaptive backstepping control law and adaptive law are derived systematically through virtual control input and suitable Lyapunov function. Also, speed observer without using costly speed sensor is presented. Simulation results show that the proposed controller can observe the speed and track the reference speed signal generated by a reference model.

• 전기학회논문지P
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• 제54권3호
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• pp.119-128
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• 2005

In this paper, an robust adaptive backstepping controller is proposed for the chaos system with disturbances. This controller will be applicable to the chaos system of strict-feedback form and utilize the saturation function for decreasing the effect of disturbances derived from unmodelled dynamics and external noise. It shows that backstepping algorithm can be used to solve the problems of nonlinear system very well and robust controller can be designed without the variation of adaptive law. Simulation results are provided to demonstrate the effectiveness of the proposed controller.

• 전기학회논문지P
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• 제54권2호
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• pp.80-88
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• 2005

In this paper, an robust adaptive backstepping controller is proposed for the speed control of separately excited DC motor with uncertainties and disturbances. Armature and field resistance, damping coefficient and load torque are considered as uncertainties and noise generated at applying load torque to motor is also considered. It shows that the backstepping algorithm can be used to solve the problems of nonlinear system very well and robust controller can be designed without the variation of adaptive law. Simulation and experiment results are provided to demonstrate the effectiveness of the proposed controller.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권7호
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• pp.385-392
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• 2003

A nonlinear speed controller for a separately excited DC motor (SEDCM) based on a newly developed adaptive backstepping approach is presented. To compensate parameter uncertainties and load torque disturbance, a nonlinear adaptive backstepping control law and adaptive law are derived systematically step by step through virtual control input and suitable Lyapunov function. Also, speed observer without using costly speed sensor is presented. Simulation results show that the proposed controller can observe real speed and track the reference speed signal generated by a reference model.