• Title/Summary/Keyword: backstepping

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Backstepping Control and Synchronization for 4-D Lorenz-Stenflo Chaotic System with Single Input

  • Yu, Sung-Hun;Hyun, Chang-Ho;Park, Mig-Non
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.11 no.3
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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.

Adaptive Backstepping Control Using Self Recurrent Wavelet Neural Network for Stable Walking of the Biped Robots (이족 로봇의 안정한 걸음새를 위한 자기 회귀 웨이블릿 신경 회로망을 이용한 적응 백스테핑 제어)

  • Yoo Sung-Jin;Park Jin-Bae
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.3
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    • pp.233-240
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    • 2006
  • This paper presents the robust control method using a self recurrent wavelet neural network (SRWNN) via adaptive backstepping design technique for stable walking of biped robots with unknown model uncertainties. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the biped robots. The adaptation laws for weights of the SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for on-line controlling biped robots. Computer simulations of a five-link biped robot with unknown model uncertainties verify the validity of the proposed control system.

ADAPTIVE BACKSTEPPING CONTROL FOR SATELLITE FORMATION FLYING WITH MASS UNCERTAINTY

  • Lim, Hyung-Chul;Bang, Hyo-Choong;Lee, Sang-Jong
    • Journal of Astronomy and Space Sciences
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    • v.23 no.4
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    • pp.405-414
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    • 2006
  • Satellite formation flying has become a critical issue in the aerospace engineering because it is considered as an enabling technology for many space missions. Thus, many nonlinear control theories have been developed for the tracking problem of satellite formation flying, which include full-nonlinear dynamics, external disturbances and parameter uncertainty. In this study, nonlinear adaptive control law is developed using an adaptive backstepping technique to solve the relative position tracking problem of the satellite formation flying in the presence of mass uncertainty and the bounded external disturbance. Simulation studies are included to demonstrate the proposed controller performance. The proposed controller is shown to guarantee the system stability against the external bounded disturbances in the presence of mass uncertainty.

Induction Motor Control Using Adaptive Backstepping and MRAS (적응 백스테핑과 MRAS를 이용한 유도전동기 제어)

  • Lee, Sun-Young;Park, Ki-Kwang;Yang, Hai-Won
    • Proceedings of the KIEE Conference
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    • 2008.10b
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    • pp.77-78
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    • 2008
  • This paper presents to control speed of induction motors with uncertainties. We use an adaptive backstepping controller with fuzzy neural networks(FNNs) and model reference adaptive system(MRAS) at Indirect vector control method. The adaptive backstepping controller using FNNs can control speed of induction motors even we have a minimum of information. And this controller can be used to approximate most of uncertainties which are derived from unknown motor parameters, load torque such as disturbances. MRAS estimates to rotor resistance and also can find optimal flux to minimize power losses of Induction motor. Indirect vector PI current controller is used to keep rotor flux constant without measuring or estimating the rotor flux. Simulation and experiment results are verified the effectiveness of this proposed approach.

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Backstepping Control of a Buck-Boost Converter in an Experimental PV-System

  • Vazquez, Jesus R.;Martin, Aranzazu D.
    • Journal of Power Electronics
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    • v.15 no.6
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    • pp.1584-1592
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    • 2015
  • This paper presents a nonlinear method to control a DC-DC converter and track the Maximum Power Point (MPP) of a Photovoltaic (PV) system. A backstepping controller is proposed to regulate the voltage at the input of a buck-boost converter by means of Lyapunov functions. To make the control initially faster and avoid local maximum, a regression plane is used to estimate the reference voltages that must be obtained to achieve the MPP and guarantee the maximum power extraction, modifying the conventional Perturb and Observe (P&O) method. An experimental platform has been designed to verify the validity and performance of the proposed control method. In this platform, a buck-boost converter has been built to extract the maximum power of commercial solar modules under different environmental conditions.

Self-Recurrent Wavelet Neural Network Based Adaptive Backstepping Control for Steering Control of an Autonomous Underwater Vehicle (수중 자율 운동체의 방향 제어를 위한 자기회귀 웨이블릿 신경회로망 기반 적응 백스테핑 제어)

  • Seo, Kyoung-Cheol;Yoo, Sung-Jin;Park, Jin-Bae;Choi, Yoon-Ho
    • Journal of Institute of Control, Robotics and Systems
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    • v.13 no.5
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    • pp.406-413
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    • 2007
  • This paper proposes a self-recurrent wavelet neural network(SRWNN) based adaptive backstepping control technique for the robust steering control of autonomous underwater vehicles(AUVs) with unknown model uncertainties and external disturbance. The SRWNN, which has the properties such as fast convergence and simple structure, is used as the uncertainty observer of the steering model of AUV. The adaptation laws for the weights of SRWNN and reconstruction error compensator are induced from the Lyapunov stability theorem, which are used for the on-line control of AUV. Finally, simulation results for steering control of an AUV with unknown model uncertainties and external disturbance are included to illustrate the effectiveness of the proposed method.

Exponential Stability of Predictor Feedback for Discrete-Time Linear Systems with Input Delays (입력 지연을 갖는 이산시간 선형 시스템을 위한 예측기 피드백의 지수적 안정성)

  • Choi, Joon-Young
    • Journal of Institute of Control, Robotics and Systems
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    • v.19 no.7
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    • pp.583-586
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    • 2013
  • We consider discrete-time LTI (Linear Time-Invariant) systems with constant input delays. The input delay is modeled by a first-order PdE (Partial difference Equation) and a backstepping transformation is employed to design a predictor feedback controller. The backstepping approach results in the construction of an explicit Lyapunov function, with which we prove the exponential stability of the closed-loop system formed by the predictor feedback. The numerical example demonstrates the design of the predictor feedback controller, and illustrates the validity of the exponential stability.

Tracking Control of Wheeled Mobile Robots Using Pseudo-Backstepping Method (유사 역보행 기법을 이용한 이동로봇의 추종제어)

  • Park, Jae-Yong;Chwa, Dong-Kyoung;Hong, Suk-Kyo
    • Proceedings of the KIEE Conference
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    • 2005.10b
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    • pp.415-417
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    • 2005
  • This paper proposes tracking control method using pseudo-backstepping control for wheeled mobile robots with nonholonomic constraints. First, the pseudo commands for forward linear velocity and angular velocity are chosen based on the kinematics. Then, the actual torque control inputs are designed to make the actual forward linear velocity and angular velocity follow the pseudo commands. Both semi-global practical posture(position and heading direction angle) stabilization and trajectory tracking are achieved for reference trajectories such as straight line and sinusoidal curve. The stability and performance analysed and numerical simulations are performed to confirm the effectiveness of the proposed scheme.

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Backstepping Controller Design for tracking the TORA Sysem (TORA 시스템을 추적하기 위한 백스테핑 제어기 설계)

  • Kwon, Oh-Bong;Kim, Dong-Hun;Hyun, Keun-Ho;Lee, Hyung-Chan;Yang, Hai-Won
    • Proceedings of the KIEE Conference
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    • 1999.07b
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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.

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An Adaptive Fuzzy Backstepping Approach to Robust Tracking Control of a Single-Link Flexible Joint Robot (적응형 퍼지 백스테핑 방식을 이용한 단일축 유연관절 로봇의 강인 제어)

  • 김은태;이희진
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.41 no.4
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    • pp.1-12
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    • 2004
  • This paper presents an adaptive fuzzy backstepping (AFB) controller for a single-link flexible joint robot in the Presence of Parametric uncertainties and external disturbances. Adaptive fuzzy logic systems are used as universal approximators to counteract the model uncertainties coming from robot dynamics and to compensate for the nonlinearities coming from adaptive backstepping method. The approach suggested herein does not require neither an additional supervisory nor a robustifying controller and guarantees that tracking error is uniformly ultimately bounded (UUB) within a sufficiently small residual set. Finally, a simulation result is given to demonstrate the robust tracking performance of proposed design method.