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
Publication Date
2021-03-31
Country of Publication
Iraq
No. of Pages
12
Main Subjects
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