Adaptive backstepping control scheme with integral action for quanser 2-dof helicopter

2017 ◽  
Author(s):  
Ravi Patel ◽  
Dipankar Deb ◽  
Himani Modi ◽  
Sunny Shah
Keyword(s):  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Adaptive Backstepping Control ◽  
Integral Action ◽  
Control Scheme

scholarly journals Adaptive Backstepping Control for Longitudinal Dynamics of Hypersonic Vehicle Subject to Actuator Saturation and Disturbance

2019 ◽  
Vol 2019 ◽  
pp. 1-10 ◽  
Author(s):  
Zhiqiang Jia ◽  
Tianya Li ◽  
Kunfeng Lu
Keyword(s):  
Control Strategy ◽  
Actuator Saturation ◽  
Hypersonic Vehicle ◽  
Backstepping Control ◽  
Order System ◽  
Adaptive Backstepping ◽  
External Disturbances ◽  
Longitudinal Control ◽  
Adaptive Backstepping Control ◽  
Control Scheme

In this paper, an adaptive backstepping control strategy is presented to solve the longitudinal control problem for a hypersonic vehicle (HSV) subject to actuator saturation and disturbances. Small perturbation linearization transforms the dynamics to a seconded-order system at each trimming point, with total disturbance including unmodeled dynamics, parametric uncertainties, and external disturbances. The disturbance can be estimated and compensated for by an extended state observer (ESO), and thus the system is decoupled. To deal with the actuator saturation and wide flight envelope, an adaptive backstepping control strategy is designed. A rigorous proof of finite-time convergence is provided applying Lyapunov method. The effectiveness of the proposed control scheme is verified in simulations.

scholarly journals Noncertainty Equivalent Adaptive Backstepping Control for Advanced Fighter Subject to Unsteady Effects and Input Constraints

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Chijun Zhou ◽  
Changxin Luo ◽  
Jikun Ye ◽  
Jihong Zhu ◽  
Humin Lei
Keyword(s):  
Unsteady Aerodynamics ◽  
Backstepping Control ◽  
Input Constraints ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Adaptive Backstepping Control ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Backstepping Controller ◽  
Unsteady Effects

This paper presents a noncertainty equivalent adaptive backstepping control scheme for advanced fighter attitude tracking, in which unsteady effects, parameter uncertainties, and input constraints are all considered which increase the design difficulty to a large extent. Based on unsteady attitude dynamics and the noncertainty equivalent principle, a new observer is first developed to reconstruct the immeasurable and time-varying unsteady states. Afterwards, the unsteady aerodynamics is compensated in the backstepping controller where the command filter is introduced to impose physical constraints on actuators. In order to further enhance the robustness, the noncertainty equivalent adaptive approach is again used to estimate the uncertain constant parameters. Moreover, stability of the closed-loop system that includes the state observer, parameter estimator, and backstepping controller is proven by the Lyapunov theorem in a unified architecture. Finally, simulation results show that performance of the deterministic control system can be captured when attractive manifolds are achieved. The effectiveness and robustness of the proposed control scheme are verified by the Herbst maneuver.

ADAPTIVE BACKSTEPPING CONTROL OF A CLASS OF CHAOTIC SYSTEMS

2000 ◽  
Vol 10 (05) ◽  
pp. 1149-1156 ◽  
Author(s):  
S. S. GE ◽  
C. WANG ◽  
T. H. LEE
Keyword(s):  
Chaotic Systems ◽  
Reference Model ◽  
Duffing Oscillator ◽  
Feedback System ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Feedback Form ◽  
Adaptive Backstepping Control ◽  
Control Scheme ◽  
Strict Feedback

This paper is concerned with the control of a class of chaotic systems using adaptive backstepping, which is a systematic design approach for constructing both feedback control laws and associated Lyapunov functions. Firstly, we show that many chaotic systems as paradigms in the research of chaos can be transformed into a class of nonlinear systems in the so-called nonautonomous "strict-feedback" form. Secondly, an adaptive backstepping control scheme is extended to the nonautonomous "strict-feedback" system, and it is shown that the output of the nonautonomous system can asymptotically track the output of any known, bounded and smooth nonlinear reference model. Finally, the Duffing oscillator with key constant parameters unknown, is used as an example to illustrate the feasibility of the proposed control scheme. Simulation studies are conducted to show the effectiveness of the proposed method.

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