scholarly journals Designing Backstepping Control System for Hypersonic Vehicle Based on Feedback Linearization

2015 ◽  
Vol 2015 ◽  
pp. 1-11 ◽  
Author(s):  
Jianli Wei ◽  
Huan Chen
Keyword(s):  
Control System ◽  
Feedback Linearization ◽  
Control Method ◽  
Control Volume ◽  
Parametric Uncertainty ◽  
Linearization Method ◽  
Backstepping Control ◽  
Robust Adaptive Control ◽  
Adaptive Backstepping ◽  
Robust Adaptive

A hypersonic vehicle uses the airbreathing scramjet engine and the airframe and engine integrated design. Therefore, there is a strong cross-coupling effect among its aerodynamic force, thrust, structure, and control. The nonlinearity and uncertainty of the model cause difficulties in control system design. Considering the nonlinearity, coupling characteristics, and aerodynamic parametric uncertainty of its longitudinal dynamic model, we design the control law for its altitude system and velocity system based on the adaptive backstepping control method. Because of the feedback linearization method, we introduce the constraints of the flight vehicle’s actuator into the design, obtaining the robust adaptive control system constrained by the actuator of the flight vehicle. To avoid the high-order derivation problem of the feedback linearization method and the derivation of the virtual control volume in adaptive backstepping control method, we use the arbitrary-order robust exact differentiator to solve the high-order derivatives in feedback linearization and utilize the command filter to obtain the virtual control volume and its derivatives. The simulation results show that the robust adaptive control system we designed can achieve the error-free tracking of altitude and velocity command. It can well overcome the influence of structural parameters, aerodynamic parametric uncertainty, and disturbances; meanwhile, the control command can satisfy the constraints of the actuator.

scholarly journals Nonlinear Constrained Adaptive Backstepping Tracking Control for a Hypersonic Vehicle with Uncertainty

2015 ◽  
Vol 2015 ◽  
pp. 1-16 ◽  
Author(s):  
Qin Zou ◽  
Fang Wang ◽  
Qun Zong
Keyword(s):  
Controller Design ◽  
Input Saturation ◽  
Hypersonic Vehicle ◽  
Backstepping Control ◽  
Robust Adaptive Control ◽  
Adaptive Backstepping ◽  
Control Scheme ◽  
Auxiliary Signal ◽  
Control Saturation ◽  
Robust Adaptive

The control problem of a flexible hypersonic vehicle is presented, where input saturation and aerodynamic uncertainty are considered. A control-oriented model including aerodynamic uncertainty is derived for simple controller design due to the nonlinearity and complexity of hypersonic vehicle model. Then it is separated into velocity subsystem and altitude subsystem. On the basis of the integration of robust adaptive control and backstepping technique, respective controller is designed for each subsystem, where an auxiliary signal provided by an additional dynamic system is used to compensate for the control saturation effect. Then to deal with the “explosion of terms” problem inherent in backstepping control, a novel first-order filter is proposed. Simulation results are included to demonstrate the effectiveness of the adaptive backstepping control scheme.

The EKF Senorless Control Strategy of Permanent Magnet Synchronous Motor Adaptive Backstepping Control System

2012 ◽  
Vol 249-250 ◽  
pp. 1166-1172 ◽  
Author(s):  
Yang Ji
Keyword(s):  
Control System ◽  
Control Method ◽  
Permanent Magnet Synchronous Motor ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Static Performance ◽  
Backstepping Controller ◽  
The Mathematical Model ◽  
Adaptive Backstepping Controller ◽  
Method Show

For the unsatisfactory of the traditional linear control methods, on the basis of the mathematical model of PMSM, a combination of backstepping control method based on the Lyapunov function and adaptive control method is used in the speed control system of PMSM. A method of estimating the rotor position and speed based in extended Kalman filter (EKF) for PMSM is proposed. A simulation model of PMSM using the designed adaptive backstepping controller with EKF is built. The results of simulation using the control method show the preferably dynamic and stable-static performance of the system, and prove its effectiveness.

scholarly journals Position Output Adaptive Backstepping Control of Electro-Hydraulic Servo Closed-Pump Control System

Processes ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 2209
Author(s):  
Gexin Chen ◽  
Huilong Liu ◽  
Pengshuo Jia ◽  
Gengting Qiu ◽  
Haohui Yu ◽  
...  
Keyword(s):  
Control System ◽  
Control Strategy ◽  
Parameter Uncertainty ◽  
Position Control ◽  
Control Method ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Control Effect ◽  
Adaptive Backstepping Control ◽  
Hydraulic Servo

A nonlinear adaptive backstepping control method was proposed to address the system parameter uncertainty problem in the position control process of an electro-hydraulic servo closed-pump control system. This control strategy fully considers the parameter uncertainty of the nonlinear system and establishes the adaptive rate of the uncertain parameter to adjust the parameter disturbance online in real time, thereby improving the accuracy and robustness of the control system. A pump control system experiment platform was used to verify the feasibility of the controller. The experimental results showed that the proposed control strategy provided a good control effect. The pump control system can be controlled with high precision, with a steady-state control accuracy of ±0.02 mm, which serves as a good foundation for the engineering application and promotion of the pump control system.

Robust adaptive tracking control for uncertain nonholonomic mobile manipulator

2021 ◽  
pp. 095965182110277
Author(s):  
Abdelkrim Brahmi ◽  
Maarouf Saad ◽  
Brahim Brahmi ◽  
Ibrahim El Bojairami ◽  
Guy Gauthier ◽  
...  
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Robust Adaptive Control ◽  
Convergence Time ◽  
Adaptive Sliding Mode Control ◽  
Mobile Manipulator ◽  
Control Law ◽  
Adaptive Tracking Control ◽  
Robust Adaptive ◽  
Manipulator Robot

In the research put forth, a robust adaptive control method for a nonholonomic mobile manipulator robot, with unknown inertia parameters and disturbances, was proposed. First, the description of the robot’s dynamics model was developed. Thereafter, a novel adaptive sliding mode control was designed, to which all parameters describing involved uncertainties and disturbances were estimated by the adaptive update technique. The proposed control ensures a relatively good system tracking, with all errors converging to zero. Unlike conventional sliding mode controls, the suggested is able to achieve superb performance, without resulting in any chattering problems, along with an extremely fast system trajectories convergence time to equilibrium. The aforementioned characteristics were attainable upon using an innovative reaching law based on potential functions. Furthermore, the Lyapunov approach was used to design the control law and to conduct a global stability analysis. Finally, experimental results and comparative study collected via a 05-DoF mobile manipulator robot, to track a given trajectory, showing the superior efficiency of the proposed control law.

scholarly journals Multiobjective Trajectory Optimization and Adaptive Backstepping Control for Rubber Unstacking Robot Based on RFWNN Method

2018 ◽  
Vol 2018 ◽  
pp. 1-19
Author(s):  
Le Liang ◽  
Yanjie Liu ◽  
Hao Xu
Keyword(s):  
Trajectory Optimization ◽  
Control Method ◽  
External Disturbance ◽  
Backstepping Control ◽  
Adaptive Robust Control ◽  
Robot Dynamics ◽  
Adaptive Backstepping ◽  
Recycling Process ◽  
Adaptive Backstepping Control ◽  
Modeling Uncertainties

Multiobjective trajectory optimization and adaptive backstepping control method based on recursive fuzzy wavelet neural network (RFWNN) are proposed to solve the problem of dynamic modeling uncertainties and strong external disturbance of the rubber unstacking robot during recycling process. First, according to the rubber viscoelastic properties, the Hunt-Crossley nonlinear model is used to construct the robot dynamics model. Then, combined with the dynamic model and the recycling process characteristics, the multiobjective trajectory optimization of the rubber unstacking robot is carried out for the operational efficiency, the running trajectory smoothness, and the energy consumption. Based on the trajectory optimization results, the adaptive backstepping control method based on RFWNN is adopted. The RFWNN method is applied in the main controller to cope with time-varying uncertainties of the robot dynamic system. Simultaneously, an adaptive robust control law is developed to eliminate inevitable approximation errors and unknown disturbances and relax the requirement for prior knowledge of the controlled system. Finally, the validity of the proposed control strategy is verified by experiment.

scholarly journals Adaptive Backstepping Control with Online Parameter Estimator for a Plug-and-Play Parallel Converter System in a Power Switcher

Energies ◽  
2018 ◽  
Vol 11 (12) ◽  
pp. 3528 ◽  
Author(s):  
Chujia Guo ◽  
Aimin Zhang ◽  
Hang Zhang ◽  
Lei Zhang
Keyword(s):  
Control Method ◽  
Optimal Algorithm ◽  
Weighted Least Squares ◽  
Backstepping Control ◽  
Parallel Structure ◽  
Adaptive Backstepping ◽  
Parameter Estimator ◽  
Plug And Play ◽  
Adaptive Backstepping Control ◽  
Circulating Current

This study aims to address the inherent uncertainty in plug loads and load extraction, distributed generation, and the inevitable circulating current in a parallel structure. Therefore, in this paper, an adaptive backstepping control scheme with an online parameter estimator (OPE) for a plug-and-play parallel converter system in a four-port power switcher is proposed. The adaptive backstepping control method was designed in the dq0 coordinate system to suppress the circulating current in the zero-component; the circulating current can be suppressed by using an embedded algorithm and omitting the extra controller. An adaptive update law was designed to weaken the influence of the arbitrary plug and extraction operations in the DC and AC buses to realize the plug-and-play function. The transient tracking performance is governed by the limitation of maximum total errors in the voltage and current. As a result, the settling times of the voltage, current, and power decreased. Additionally, to further improve the system robustness, an online inductance and resistance estimator was established using an optimal algorithm that solves the weighted least squares problem. In the estimator, there are no additional voltage and current sensors needed, and the mean squared error (MSE) of the estimation can be minimized. Simulation studies on a two-converter parallel system with a plug-and-play function were conducted using MATLAB/SIMULINK (R2018b, MathWorks, Natick, MA, USA) to verify the effectiveness of the proposed adaptive backstepping control strategy. The results show that this strategy improves system performance over that of a system with unbalanced parameters among a parallel structure with AC and DC system disturbances caused by arbitrary plug and extraction operations.

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