Design of an optimal backstepping controller for nonlinear system under disturbance

Joint Authors

al-Salihi, Luayy Thamir Rashid Sultan
Hamzah, Muhammad K.

Source

Engineering and Technology Journal

Issue

Vol. 39, Issue 3A (31 Mar. 2021), pp.465-476, 12 p.

Publisher

University of Technology

Publication Date

2021-03-31

Country of Publication

Iraq

No. of Pages

12

Main Subjects

Mechanical Engineering

Topics

Abstract EN

The aim of the work for this paper is the design of an optimal backstepping controller for a nonlinear pendulum system to stabilize the position of pendulum’s ball suspended in the desired position.

The Cuckoo optimization algorithm (COA) has been utilized to get and tune the gain variables of the proposed backstepping controller in order to find the best torque action for the system.

The numerical simulation results using (MATLAB package) show the robustness and the effectiveness of the proposed backstepping based COA controller in terms of obtaining the best torque control action without a saturation state that will stabilize the pendulum system performance.

The simulation results show also that the proposed control system when compared with the other controller results has the capability of minimizing the pendulum’s ball position tracking error to the zero value at the steady state response and speeding up the system response.

Moreover, the fitness evaluation value is reduced.

American Psychological Association (APA)

al-Salihi, Luayy Thamir Rashid Sultan& Hamzah, Muhammad K.. 2021. Design of an optimal backstepping controller for nonlinear system under disturbance. Engineering and Technology Journal،Vol. 39, no. 3A, pp.465-476.
https://search.emarefa.net/detail/BIM-1282649

Modern Language Association (MLA)

al-Salihi, Luayy Thamir Rashid Sultan& Hamzah, Muhammad K.. Design of an optimal backstepping controller for nonlinear system under disturbance. Engineering and Technology Journal Vol. 39, no. 3A (2021), pp.465-476.
https://search.emarefa.net/detail/BIM-1282649

American Medical Association (AMA)

al-Salihi, Luayy Thamir Rashid Sultan& Hamzah, Muhammad K.. Design of an optimal backstepping controller for nonlinear system under disturbance. Engineering and Technology Journal. 2021. Vol. 39, no. 3A, pp.465-476.
https://search.emarefa.net/detail/BIM-1282649

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references : p. 475-476

Record ID

BIM-1282649