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backstepping Sliding Mode control Based on Extended State Observer for Hydraulic Servo System

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Intelligent Automation & Soft Computing 2023年第6期36卷 3565-3581页

作者： Zhenshuai Wan Yu Fu Chong Liu Longwang Yue School of Mechanical and Electrical Engineering Henan University of TechnologyZhengzhouChina

Hydraulic servo system plays an important role in industrial fields due to the advantages of high response,small size-to-power ratio and large driving force.However,inherent nonlinear behaviors and modeling uncertainties are the main obstacles for hydraulic servo system to achieve high tracking perfor-mance.To deal with these difficulties,this paper presents a backstepping sliding mode controller to improve the dynamic tracking performance and anti-interfer-ence ability.For this purpose,the nonlinear dynamic model is firstly established,where the nonlinear behaviors and modeling uncertainties are lumped as one term.Then,the extended state observer is introduced to estimate the lumped distur-bance.The system stability is proved by using the Lyapunov stability theorem.Finally,comparative simulation and experimental are conducted on a hydraulic servo system platform to verify the efficiency of the proposed control scheme.

关键词： Hydraulic servo system nonlinear behaviors modeling uncertainties backstepping control sliding mode control extended state observer

Adaptive backstepping control Design for Semi-Active Suspension of Half-Vehicle With Magnetorheological Damper

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IEEE/CAA Journal of Automatica Sinica 2021年第3期8卷 582-596页

作者： Khalid El Majdoub Fouad Giri Fatima-Zahra Chaoui Department of Electrical Engineering University Hassan IIFaculty of Science and TechnologyMohammedia 20030Morocco Department of Electrical Engineering University de Caen NormandieCaen 14032France Department of Electrical Engineering University Mohamed VRabat 10000Morocco

This paper investigates the problem of controlling half-vehicle semi-active suspension system involving a magnetorheological(MR)damper.This features a hysteretic behavior that is presently captured through the nonlinear Bouc-Wen model.The control objective is to regulate well the heave and the pitch motions of the chassis despite the road irregularities.The difficulty of the control problem lies in the nonlinearity of the system model,the uncertainty of some of its parameters,and the inaccessibility to measurements of the hysteresis internal state variables.Using Lyapunov control design tools,we design two observers to get online estimates of the hysteresis internal states and a stabilizing adaptive state-feedback regulator.The whole adaptive controller is formally shown to meet the desired control objectives.This theoretical result is confirmed by several simulations demonstrating the supremacy of the latter compared to the skyhook control and passive suspension.

关键词： Adaptive control backstepping control Bouc-Wen model half vehicle model magnetorheological(MR)damper semiactive suspension skyhook control state observation

backstepping sliding mode control for uncertain strict-feedback nonlinear systems using neural-network-based adaptive gain scheduling

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Journal of Systems Engineering and Electronics 2018年第3期29卷 580-586页

作者： YANG Yueneng YAN Ye College of Aerospace Science and Engineering National University of Defense Technology

A neural-network-based adaptive gain scheduling backstepping sliding mode control（NNAGS-BSMC） approach for a class of uncertain strict-feedback nonlinear system is proposed.First, the control problem of uncertain strict-feedback nonlinear systems is formulated. Second, the detailed design of NNAGSBSMC is described. The sliding mode control（SMC） law is designed to track a referenced output via backstepping technique.To decrease chattering result from SMC, a radial basis function neural network（RBFNN） is employed to construct the NNAGSBSMC to facilitate adaptive gain scheduling, in which the gains are scheduled adaptively via neural network（NN）, with sliding surface and its differential as NN inputs and the gains as NN outputs. Finally, the verification example is given to show the effectiveness and robustness of the proposed approach. Contrasting simulation results indicate that the NNAGS-BSMC decreases the chattering effectively and has better control performance against the BSMC.

关键词： backstepping control sliding mode control（SMC） neural network（NN） strict-feedback system chattering decrease

Adaptive fuzzy backstepping control for attitude stabilization of flexible spacecraft with signal quantization and actuator faults

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Science China(Information Sciences) 2021年第5期64卷 135-150页

作者： Qiuhong LIU Ming LIU Guangren DUAN Research Institute of Intelligent control Systems Harbin Institute of Technology Research Center of Satellite Technology Harbin Institute of Technology Center for control Theory and Guidance Technology Harbin Institute of Technology

In this study, the fault-tolerant attitude control of flexible spacecraft is investigated over digital communication channels, where a uniform quantizer is considered with respect to the sensor signals and controller indexes. Further, an adaptive fuzzy backstepping control strategy has been developed for the considered attitude stabilization issue, where the adaptive fuzzy logic method is used to approximate the rigid-flexible coupled nonlinearity of the spacecraft. In this design, the online adjusting quantizer parameters are injected into the controller gains to simultaneously compensate for the quantization errors and timevarying actuator faults. In the proposed control method, the attitude stabilization task is achieved in the presence of external disturbances, time-varying actuator faults, and signal quantization. Finally, the practical examples are compared to demonstrate the effectiveness of the proposed control strategy.

关键词： fault-tolerant control attitude stabilization signal quantization adaptive fuzzy control backstepping control

Modeling and backstepping-based Nonlinear control Strategy for a 6 DOF Quadrotor Helicopter

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Chinese Journal of Aeronautics 2008年第3期21卷 261-268页

作者： Ashfaq Ahmad Mian China Nanjing 210016 College of Automation Engineering Nanjing University of Aeronautics and Astronautics

In this article,a nonlinear model of an underactuated six degrees of freedom (6 DOF) quadrotor helicopter is derived on the basis of the Newton-Euler formalism. The derivation comprises determining equations of the motion of the quadrotor in three dimensions and approximating the actuation forces through the modeling of aerodynamic coefficients and electric motor dynamics. The derived model composed of translational and rotational subsystems is dynamically unstable,so a sequential nonlinear control strategy is used. The con-trol strategy includes feedback linearization coupled with a PD controller for the translational subsystem and a backstepping-based PID nonlinear controller for the rotational subsystem of the quadrotor. The performances of the nonlinear control method are evaluated by nonlinear simulation and the results demonstrate the effectiveness of the proposed control strategy for the quadrotor helicopter in quasi-stationary flights.

关键词： underactuated systems quadrotor helicopter backstepping control

Improved backstepping control for large angle maneuvers of spacecraft

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控制理论与应用（英文版） 2013年第3期11卷 483-488页

作者： Kemao MA Jiawei ZHANG Yafei YANG control and Simulation Center Harbin Institute of Technology

For the control of large angle maneuvers of a spacecraft, variable gain backstepping control is proposed. The controller can make the states of the system converge to the commanded position along the input vector field orientation. The controller stabilizes the system with the amplitude of the commanded torques decreased. Considering the uncertainty of the disturbance torques and the estimation error of the inertia matrix, the control design is improved to provide strong self-adaptability and robustness of the system. Simulation is conducted, and the results show that the design has good tracking performance and convergence, consistent with the theoretical analysis.

关键词： Large angle maneuvers backstepping control Self-adaptive Robustness Torque amplitude

Adaptive-backstepping force/motion control for mobile-manipulator robot based on fuzzy CMAC neural networks

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control Theory and Technology 2014年第4期12卷 368-382页

作者： Thang-Long MAI Yaonan WANG College of Electrical and Information Engineering Hunan University Faculty of Electronics Engineering Industrial University of Hochiminh City

In this paper, an adaptive backstepping fuzzy cerebellar-model-articulation-control neural-networks control （ABFCNC） system for motion/force control of the mobile-manipulator robot （MMR） is proposed. By applying the ABFCNC in the tracking-position controller, the unknown dynamics and parameter variation problems of the MMR control system are relaxed. In addition, an adaptive robust compensator is proposed to eliminate uncertainties that consist of approximation errors, uncertain disturbances. Based on the tracking position-ABFCNC design, an adaptive robust control strategy is also developed for the nonholonomicconstraint force of the MMR. The design of adaptive-online learning algorithms is obtained by using the Lyapunov stability theorem. Therefore, the proposed method proves that it not only can guarantee the stability and robustness but also the tracking performances of the MMR control system. The effectiveness and robustness of the proposed control system are verified by comparative simulation results.

关键词： backstepping control Fuzzy CMAC （cerebellar model articulation controller） neural networks Adaptive robustcontrol Mobile-manipulator robot

Adaptive backstepping Output Feedback control for SISO Nonlinear System Using Fuzzy Neural Networks

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International Journal of Automation and computing 2009年第2期6卷 145-153页

作者： Shao-Cheng Tong Yong-Ming Li Department of Basic Mathematics Liaoning University of Technology Jinzhou 121001 PRC

In this paper, a new fuzzy-neural adaptive control approach is developed for a class of single-input and single-output （SISO） nonlinear systems with unmeasured states. Using fuzzy neural networks to approximate the unknown nonlinear functions, a fuzzy- neural adaptive observer is introduced for state estimation as well as system identification. Under the framework of the backstepping design, fuzzy-neural adaptive output feedback control is constructed recursively. It is proven that the proposed fuzzy adaptive control approach guarantees the global boundedness property for all the signals, driving the tracking error to a small neighbordhood of the origin. Simulation example is included to illustrate the effectiveness of the proposed approach.

关键词： Nonlinear systems backstepping control adaptive fuzzy neural networks control state observer output feedback control.

A Comparative Study of Synchronization Methods of Rucklidge Chaotic Systems with Design of Active control and backstepping Methods

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International Journal of Modern Nonlinear Theory and Application 2022年第2期11卷 31-51页

作者： Absana Tarammim Musammet Tahmina Akter Department of Mathematics Chittagong University of Engineering & Technology (CUET) Chattogram Bangladesh

The performance of two widely used chaos synchronization approaches, active control and backstepping control, is investigated in this study. These two methods are projected to synchronize two chaotic systems (Master/Drive of Rucklidge Systems) that are identical but have different initial conditions. The paper’s significant feature is that based on error dynamics, controllers are designed using the appropriate variable and the time synchronization between master Rucklidge and drive Rucklidge systems using both methods. The control function of the active control method is designed on the proper selection of matrices. The chaotic behavior is controlled using a recursive backstepping design based on the Lyapunov stability theory with a validated Lyapunov function. The effectiveness of the controller in eradicating the chaotic behavior from the state trajectories is also revealed using numerical simulations with Matlab. The backstepping method is superior to the active control method for synchronization of the measured pair of systems, as it takes less time to synchronize while exhausting the first one than the second one with great performance, according to numerical simulation and graphical outcomes.

关键词： Chaotic System Synchronization Active control backstepping control Lyapunov Function