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Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances
Joint Authors
Kim, Wonhee
Kang, Chang Mook
Son, Young Seop
Chung, Chung Choo
Source
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-13, 13 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-02-07
Country of Publication
Egypt
No. of Pages
13
Main Subjects
Abstract EN
A nonlinear backstepping control is proposed for the coupled normal form of nonlinear systems.
The proposed method is designed by combining the sliding-mode control and backstepping control with a disturbance observer (DOB).
The key idea behind the proposed method is that the linear terms of state variables of the second subsystem are lumped into the virtual input in the first subsystem.
A DOB is developed to estimate the external disturbances.
Auxiliary state variables are used to avoid amplification of the measurement noise in the DOB.
For output tracking and unmatched disturbance cancellation in the first subsystem, the desired virtual input is derived via the backstepping procedure.
The actual input in the second subsystem is developed to guarantee the convergence of the virtual input to the desired virtual input by using a sliding-mode control.
The stability of the closed-loop is verified by using the input-to-state stable (ISS) property.
The performance of the proposed method is validated via numerical simulations and an application to a vehicle system based on CarSim platform.
American Psychological Association (APA)
Kim, Wonhee& Kang, Chang Mook& Son, Young Seop& Chung, Chung Choo. 2019. Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances. Complexity،Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1132794
Modern Language Association (MLA)
Kim, Wonhee…[et al.]. Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances. Complexity No. 2019 (2019), pp.1-13.
https://search.emarefa.net/detail/BIM-1132794
American Medical Association (AMA)
Kim, Wonhee& Kang, Chang Mook& Son, Young Seop& Chung, Chung Choo. Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances. Complexity. 2019. Vol. 2019, no. 2019, pp.1-13.
https://search.emarefa.net/detail/BIM-1132794
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1132794