Backstepping quasi-continuous high-order sliding mode control for a Takagi–Sugeno fuzzy system with an application for a two-link robot control

Van, Mien,Kang, Hee-Jun,Shin, Kyoo-Sik SAGE Publications 2014 Proceedings of the Institution of Mechanical Engin Vol.228 No.9

<P>A new control scheme is proposed for motion tracking of a Takagi–Sugeno fuzzy system using the backstepping quasi-continuous high-order sliding mode (HOSM) control technique. First, a Takagi–Sugeno fuzzy model is used to represent the original second-order nonlinear system; most of the parameters for this model can be computed offline. Next, a conventional backstepping sliding mode control (BSMC) is designed to stabilize and guarantee the exact motion tracking for the Takagi–Sugeno fuzzy system. However, use of the conventional sliding mode control generates significant chattering. Therefore, a quasi-continuous second-order sliding mode (QC2S) control is employed to reduce chattering and obtain higher tracking precision, resulting in a backstepping quasi-continuous second-order sliding mode (BQC2S) control law. Combining the Takagi–Sugeno fuzzy model with the BQC2S controller results in a controller scheme that preserves the advantages of both techniques, such as the low online computational burden of the Takagi–Sugeno fuzzy model, and the low chattering, robustness, and fast transient response of the BQC2S controller. Finally, the proposed controller is used to control a two-link robot manipulator and is compared with the existing approaches. Simulation results are presented to demonstrate the effectiveness of the proposed methodology.</P>

Integrating Path Integral Control With Backstepping Control to Regulate Stochastic System

Shinyoung Bae,Jong Min Lee,Tae Hoon Oh,Jong Woo Kim,Yeonsoo Kim 제어·로봇·시스템학회 2023 International Journal of Control, Automation, and Vol.21 No.7

Path integral control integrated with backstepping control is proposed to address the practical regulation problem, wherein the system dynamics are represented as stochastic differential equations. Path integral control requires the sampling of uncontrolled trajectories to calculate the optimal control input. However, the probability of generating a low-cost trajectory from uncontrolled dynamics is low. This implies that the path integral control requires an excessive number of trajectory samples to approximate the optimal control input appropriately. Therefore, we propose an integrated method of backstepping and path integral control to provide a systematic approach for sampling stabilized trajectories that are close to the optimal one. This proposed method requires a relatively small number of samples than that of the path integral control and uses the terminal set to further reduce the computational load. In simulation studies, the proposed method is applied to a single-input single-output example and a continuous stirred-tank reactor for demonstration. The results show the advantages of integrating the backstepping control and the path integral control.

Backstepping control of permanent magnet synchronous motors based on load adaptive fuzzy parameter online tuning

Yufeng Zhang,Qi Yan,Chongchong Ai,Yuecheng Wang,Panpan Han,Qixun Zhou,Guanghui Du 전력전자학회 2024 JOURNAL OF POWER ELECTRONICS Vol.24 No.7

As a typical nonlinear control method, backstepping control can decouple the mathematical model of permanent magnet synchronous motors. In addition, permanent magnet synchronous motor control systems based on the backstepping method can enhance the control performance of the control system to a certain extent. Furthermore, the design step is easy and simple to implement in engineering practice. However, the long-term wear and tear, aging, high temperature caused by changes in the basic parameters of motor and external load sudden changes as well as other factors will bring interference to the control system, leading to reduced-control accuracy and control performance degradation. To solve this problem, this paper suggests a control strategy combining backstepping control and fuzzy control based on backstepping control. It sets the load adaptive law and utilizes fuzzy control to make online real-time adjustments to the control parameters in the backstepping control. This is done to improve the immunity of interference and stability of the control system in response to the changes in the parameters of the body of the motor and sudden changes of the load. The effectiveness and feasibility of this system is verified by MATLAB simulation and experimental results, which provides a feasible solution for permanent magnet synchronous motor immunity and high-precision control occasions.

Adaptive Backstepping Sliding Mode Control for MEMS Gyroscope

Juntao Fei,MingyuanXin,Weili Dai 제어로봇시스템학회 2013 제어로봇시스템학회 국제학술대회 논문집 Vol.2013 No.10

In this paper, an adaptive backstepping sliding mode control approach is proposed to attenuate the tracking error and control the MEMS triaxial gyroscope. An adaptive backstepping controller that can compensate the system nonlinearities is incorporated into the sliding mode control scheme in the Lyapunov framework. First, a robust backstepping control system incorporated with sliding mode control technique is designed. Then, an adaptive law is derived to estimate the upper bound value of the lumped uncertainty in the backstepping sliding mode control. With the adaptive backstepping sliding mode controller, the chattering in control efforts can be obviously reduced. Numerical simu lation is provided to verify the effectiveness of the proposed scheme.

Shunt Active Power Filter Based on a Novel Sliding Mode Backstepping Control for Three-phase Three-wire System

Lihua Deng,Juntao Fei,Changchun Cai 제어로봇시스템학회 2014 제어로봇시스템학회 국제학술대회 논문집 Vol.2014 No.10

This paper presents a global fast terminal sliding mode (GFTSM) control based on backstepping design for active power filter(APF). Power system is a typical nonlinear system. Its mathematic model can be reduced order by backstepping method. Power system is decomposed into low-level subsystems until finalizing the design of the control law. The System’s stability is ensured by Lyapunov framework. The sliding mode control is added into backstepping control to expand the application scope of control. The sliding mode control doesn’t need accurate model of system. Therefore robustness of APF control is improved. Global fast terminal control is added into sliding mode control. The nonlinear term of GFTSM control makes the system converge quickly when far from equilibrium point, and the linear term do when near equilibrium point. It makes the system’s state tracking error reach zero in finite time. The control speed of system is enhanced. An experiment based on MATLAB/SIMULINK is designed to compare GFTSM backstepping control with pure backstepping control, and experimental results confirm the validity of proposed APF controller for a three-phase three-wire system.

Robust control allocation with adaptive backstepping flight control

Choi, Byunghun,Kim, H. Jin,Kim, Youdan Professional Engineering Publishing Ltd 2014 Proceedings of the Institution of Mechanical Engin Vol. No.

<P>For the enhancement of survivability and maneuverability, modern aircraft systems have redundant control effectors. Control allocation is a useful method for distributing control signals among the individual effectors. In order to implement a control allocation scheme, the control system is designed using two-step procedures. In the first step, the control law is designed by adaptive backstepping control. The second step is to design the control allocator. A robust control allocation method is presented in this paper, which is motivated from the concept of the worst-case robust approximation approach. By assuming uncertainties in the control effectiveness matrix, the worst-case robust control allocation problem is investigated. The proposed robust control allocation technique is compared with weighted least squares control allocation. In particular, nonlinear simulations demonstrate that the proposed robust control allocation method has satisfactory performance and robustness for the assumed uncertainties in the control effectiveness matrix.</P>

Adaptive Fuzzy Super-twisting Backstepping Control Design for MIMO Nonlinear Strict Feedback Systems

박수창,이현,한성익,이장명 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3

This paper presents a new backstepping control (BSC) combined with a super-twisting algorithm (STA) for multiple-input, multiple-output (MIMO) nonlinear strict-feedback systems. The STA state variables form a type of second order sliding mode control and virtual tracking errors are defined to help design virtual controls for the recursive backstepping procedures. This enables finite-time tracking performance and enforcement robustness on the conventional BSC system, in which controllers are designed for infinite-time and contain complex repeated differentials of virtual controls. To extend controllers to MIMO unknown nonlinear systems, a fuzzy logic system is proposed to approximate unknown nonlinear functions of the strict-feedback system. Repeated differential terms, which appear in each recursive BSC step, are included in these approximation functions to simplify BSC controller. Thus, the problem of controller order explosion in conventional BSC is significantly reduced. The proposed STA based fuzzy BSC scheme provides improved tracking convergence time, robustness to uncertainty, and significantly simpler controller structure than conventional infinite-time based BSC system. The proposed control scheme was evaluated using simulation incorporating a MIMO nonlinear quadrotor unmanned aerial vehicle.

무인 잠수정의 제어 성능 비교 연구

주성현(Sung-Hyeon Joo),양선제(Seon-Je Yang),국태용(Tae-Yong Kuc),박종구(Jong-Koo Park),김용석(Yong-Serk Kim),고낙용(Nak-Yong Ko),문용선(Yong-Seon Moon) 한국해양공학회 2018 韓國海洋工學會誌 Vol.32 No.2

In this paper, we propose an adaptive backstepping controller to control the exact position and orientation of a remotely operated underwater vehicle with parametric model uncertainty. To further improve the angular velocity control precision of each thruster, a phase locked loop (PLL) controller has been added to the backstepping controller. A comparison of two backstepping controllers with and without the PLL control loop has been performed using simulations and experiments. The test results showed that the tracking performance could be improved by using the PLL control loop in the proposed adaptive backstepping controller.

Reliability-based Event Driven Backstepping Positioning Control for a Turret-moored FPSO Vessel with Unknown Slow Time-varying Disturbances

Yulong Tuo,ShashaWang,Chen Guo,Haomiao Yu,Zhipeng Shen 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.2

In this paper, an event driven backstepping positioning controller based on the structural reliability is developed for a turret-moored floating production storage and offloading (FPSO) vessel with unknown slow timevarying disturbances. The mathematical model of the FPSO vessel is given at first. Secondly, to make full use of the positioning capability of mooring system while ensuring the safety of mooring lines, a continuous backstepping positioning controller is designed based on the structural reliability of the mooring system; in the meanwhile, a disturbance observer is designed to handle the unknown disturbances. Then, the proposed event driven positioning controller is achieved based on the designed continuous controller by designing suitable event driven conditions, which can determine the updated time instants of the event driven positioning controller. The proposed positioning controller can not only guarantee the uniform ultimate boundness of the errors for structural reliability and heading but also ensure that no Zeno behavior occurs. Finally, the simulations demonstrate that the proposed event driven positioning controller’s performance while reducing the execution times of FPSO vessel’s actuators.

Backstepping Control for Multi-Machine Web Winding System

Bousmaha Bouchiba,Abdeldjebar Hazzab,Hachemi Glaoui,Fellah Med-Karim,Ismail Khalil Bousserhane,Pierre Sicard 대한전기학회 2011 Journal of Electrical Engineering & Technology Vol.6 No.1

This work treat the modeling and simulation of non-linear dynamic behavior of a web winding process during traction. We designate by a winding process any system applying the cycles of unwinding, transport, treatment, and winding to various flat products. This system knows several constraints, such as the thermal effects caused by the frictions, and the mechanical effects provoked by metal elongation, that generates dysfunctions due to the influence of the process conditions. Several controllers are considered, including Proportional-integral (PI) and Backstepping control. This paper presents the study of Backstepping controls strategy of the winding system. Our winding system is simulated in MATLAB SIMULINK environment, the results obtained illustrate the efficiency of the proposed control with no overshoot, and the rising time is improved with good disturbances rejections comparing with the classical control law.