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학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
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논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2019.7
- 수록면
- 585 - 596 (12page)
- DOI
- 10.5302/J.ICROS.2019.19.0075
이용수
초록· 키워드
오류제보하기
In this paper, a supertwisting algorithm (STA) based backstepping control (BSC) for multiple-input and multiple-output nonlinear strict-feedback systems with a nonlinear extended state observer (EOB) and full tracking error constraint control is presented. The output and the virtual tracking errors were included in new state variables defined in the concept of the STA used to design virtual stabilizing controls and final controllers in the recursive BSC design procedures. Unknown uncertainties resulting from dynamic perturbation and external disturbance were estimated using an EOB to obtain better estimation performance than that of the conventional nonlinear disturbance observer. Thus, combining the STA and EOB systems, we found that the designed STA-BSC system inherited the finite-time tracking performance and robustness from the conventional BSC systems, which were designed on the basis of an infinite-time convergence concept. Moreover, the full tracking error constraint control method, as an extended version of the output tracking error constraint control, is presented to ensure that all the tracking errors are within the prescribed boundaries. The proposed control scheme was verified through simulated applications to a robot manipulator system.
목차
Abstract
Ⅰ. INTRODUCTION
Ⅱ. PRELIMINARIES
Ⅲ. Design of Nonlinear EOB and STA-Backsteppping Controller
Ⅳ. Stability Analysis
Ⅴ. Application Example
Ⅵ. Conclusion
REFERENCES
참고문헌 (24)
참고문헌 신청
K. Kristic, I. Kanellakopoulos, and P. V. Kokotovic, Nonlinear and adaptive control design, Wiley, New York, 1995.
M. Chen, S. S. Ge, and B. V. How, “Robust adaptive neural networks control for a class of uncertain MIMO nonlinear systems with input nonlinearities,” IEEE Transactions on Neural Networks., vol. 21, no. 5, pp. 796-812, 2010.
S. C. Tong, T. Wang, Y. M. Li, and B. Chen, “A combined backstepping and stochastic small-gain approach to robust adaptive fuzzy output feedback control,” IEEE Transactions on Fuzzy Systems, vol. 21, no. 2, pp. 314- 327, 2013.
B. Xian, J. Guo, and Y. Zhang, “Adaptive backstepping tracking control of a 6-DOF unmanned helicopter,” IEEE/CAA J. Automatica Sin., 2015, vol. 2, no. 1, 19-24, 2015.
J. Li, Y. Yang, C. Hua, and X. Guan, “Fixed-time backstepping control design for high-order strict-feedback non-linear systems via terminal sliding mode,” IET Control Theory and Applications, vol. 11, no. 8, pp. 1184-1193, 2017.
M. Chen, S. S. Ge, and B. V. How, “Robust adaptive neural networks control for a class of uncertain MIMO nonlinear systems with input nonlinearities,” IEEE Transactions on Neural Networks., vol. 21, no. 5, pp. 796-812, 2010.
S. C. Tong, T. Wang, Y. M. Li, and B. Chen, “A combined backstepping and stochastic small-gain approach to robust adaptive fuzzy output feedback control,” IEEE Transactions on Fuzzy Systems, vol. 21, no. 2, pp. 314- 327, 2013.
B. Xian, J. Guo, and Y. Zhang, “Adaptive backstepping tracking control of a 6-DOF unmanned helicopter,” IEEE/CAA J. Automatica Sin., 2015, vol. 2, no. 1, 19-24, 2015.
J. Li, Y. Yang, C. Hua, and X. Guan, “Fixed-time backstepping control design for high-order strict-feedback non-linear systems via terminal sliding mode,” IET Control Theory and Applications, vol. 11, no. 8, pp. 1184-1193, 2017.
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UCI(KEPA) : I410-ECN-0101-2019-003-000901346