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Editor-in-Chief
Nikiforov
Vladimir O.
D.Sc., Prof.
Partners
doi: 10.17586/2226-1494-2019-19-3-426-434
MODIFIED BACKSTEPPING ALGORITHM FOR CONTROL OF NONLINEAR SYSTEMS WITH CROSS-COUPLINGS
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Abstract
Konovalov D.E., Vrazhevsky S.A., Furtat I.B., Kremlev A.S. Modified backstepping algorithm for control of nonlinear systems with cross-couplings. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2019, vol. 19, no. 3, pp. 426–434 (in Russian). doi: 10.17586/2226-1494-2019-19-3-426-434
Abstract
The paper deals with an output control approach for structural uncertain MIMO systems under parametrical uncertainties, cross- reactions and external disturbances. The proposed technique ensures high quality of transients and high robustness in the steady state toward the disturbances without using high-gain components in the controller. A model transformation with one linear filter for control signal is used to obtain a structural determined form of the plant (“straight-feedback form”). The dynamical order of the filer is equal to the relative degree of MIMO plant. The procedure of relative dynamic degree estimation for nonlinear MIMO plant with cross-couplings is considered. The control algorithm combines an auxiliary loop method and backstepping method. The first one is a robust approach to unknown bounded disturbances evaluation and compensation. Backstepping is a well-known iterative procedure of control law synthesis by consecutive analysis of the plant state equations. The considered combination allows estimating undesired dynamics in each state equation and compensates it by creation of virtual control laws with equal magnitude toward disturbances and reverse sign. Experimental verification of the considered control algorithm is given with the use of a laboratory platform called “Twin Rotor MIMO System”. The platform can be controlled in two angle positions and represents the simplified helicopter dynamics.
Keywords: backstepping, auxiliary loop method, nonlinear systems, disturbances compensation, MIMO systems, decentralized control
Acknowledgements. The research was supported by the Russian Science Foundation (project No. 18-79-10104) in IPME RAS
References
Acknowledgements. The research was supported by the Russian Science Foundation (project No. 18-79-10104) in IPME RAS
References
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2. Miroshnik I.V., Nikiforov V.O., Fradkov A.L. Nonlinear and Adaptive Control of Complex Dynamic Systems. St. Petersburg, Nauka Publ., 2000, 549 p. (in Russian)
3. Jiang Z., Nijmeijer H. Tracking control of mobile robots: a case study in backstepping. Automatica, 1997, vol. 33, no. 7, pp. 1393–1399. doi: 10.1016/s0005-1098(97)00055-1
4. Kokotovic P., Arcak M. Constructive nonlinear control: a historical perspective. Automatica, 2001, vol. 37, no. 5, pp. 637– 662. doi: 10.1016/S0005-1098(01)00002-4
5. Tong S., Li Y., Li Y., Liu Y. Observer-based adaptive fuzzy backstepping control for a class of stochastic nonlinear strict- feedback systems. IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics), 2011, vol. 41, no. 6, pp. 1693– 1704. doi: 10.1109/tsmcb.2011.2159264
6. Furtat I.B. Modified algorithm of robust integrator backsteping. Mekhatronika, Avtomatizatsiya, Upravlenie, 2009, no. 10, pp. 2–7. (in Russian)
7. Furtat I., Furtat E., Tupichin E.A. Modified backstepping algorithm with disturbances compensation. IFAC-PapersOnLine, 2015, vol. 48, no. 11, pp. 1056–1061. doi: 10.1016/j.ifacol.2015.09.333
8. Furtat I.B., Tupichin E.A. Modified backstepping algorithm for nonlinear systems. Automation and Remote Control, 2016, vol. 77, no. 9, pp. 1567–1578.
9. Vrazhevsky S.A. Output control of nonlinear systems using modified backstepping algorithm with disturbances compensation. SPIIRAS Proceedings, 2018, no. 3, pp. 182–202. (in Russian)
10. Tsykunov A.M. Robust control algorithms with compensation of bounded perturbations. Automation and Remote Control, 2007, vol. 68, no. 7, pp. 1213–1224. doi: 10.1134/S0005117907070090
11. Morse A.S. High-order parameter tuners for the adaptive control of linear and nonlinear systems. In Systems, models and feedback: Theory and Applications. Birkhäuser, Boston, 1992, pp. 339–364. doi: 10.1007/978-1-4757-2204-8_23
12. Nikiforov V.O., Fradkov A.L. Adaptive control schemes with extended error. Avtomatika i Telemekhanika, 1994, no. 9, pp. 3–22. (in Russian)
13. Vrazhevsky S.A., Chugina J.V., Furtat I.B., Kremlev A.S. Robust suboptimal output stabilization for multi input multi output plants under disturbances. Proc. 9th Int. Congress on Ultra Modern Telecommunications and Control Systems and Workshops. Munich, Germany, 2017, pp. 55–60. doi: 10.1109/icumt.2017.8255163
14. Khalil H.K. Nonlinear Systems. Upper Saddle River, Prentice hall, 2002, vol. 3.
15. Twin Rotor MIMO System Advanced Teaching Manual 1 (33-007- 4M5). Crowborough, UK, Feedback Instruments Ltd, 1998