Variable structure based robust backstepping controller design for nonlinear systems |
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Authors: | Chao-Chung Peng Albert Wen-Jeng Hsue Chieh-Li Chen |
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Affiliation: | 1. Department of Aeronautics and Astronautics, National Cheng Kung University, Tainan, Taiwan, R.O.C. 2. Department of Mechatronic Technology, Dahan Institute of Technology, Hualien County, Taiwan, R.O.C.
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Abstract: | This study presents robust control architecture in the sense of variable structure control via a backstepping design. By using systematic backstepping design techniques, closed-loop behavior of an n-order nonlinear system can be transformed into a stability and convergence problem of a fast switched 2nd order system. There are two main parts contained within the proposed control algorithm; one is a nominal control effort generated according to the Lyapunov stability criterion during recursive backstepping processes, and the other belongs to a smooth robust control law designed to eliminate the effects of unknown lumped perturbations. Finally, a Genesio system is used as an illustrated example to demonstrate the robustness of the control algorithm. The feasibility and properties of the proposed method are given by numerical simulations. |
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