Adaptive Backstepping Control

Koshkouei, Ali J.; Mills, Russell E.; Zinober, A.S.I.

doi:10.1007/3-540-45666-x_6

Cited by 5 publications

(8 citation statements)

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…So the method suffers from the so called ''explosion of complexity". In an attempt to diminish the above disadvantage of the backstepping control and to strengthen its robustness new design procedures based on the combination of the basic backstepping approach with other robust control techniques and with the variable structure control (VSC) or sliding mode control (SMC) approach in particular have emerged [11]. A method, similar to backstepping, called multiple sliding surface (MSS) control, has been proposed to simplify the controller design for systems where model differentiation is difficult [7,19,9].…”

Section: Introductionmentioning

confidence: 99%

Continuous Sliding Mode Control of a Quadrotor

Shakev

Topalov

2015

Recent Advances in Sliding Modes: From Control to Intelligent Mechatronics

View full text Add to dashboard Cite

Abstract. The interest into the unmanned aerial vehicles has largely increased recently. With the advances in technologies it has become possible to test efficiently and cost effectively different autonomous flight control concepts using small-scale aircrafts. In this work the stabilizing and trajectory tracking control problem of a quad-rotor helicopter using sliding mode controllers has been investigated. The well-known ability of the above control approach to stabilize under-actuated systems and to deal with existing nonlinear mismatched uncertainties in their dynamic models makes it a suitable choice for controlling rotorcrafts. The proposed method is based on the definition of several terminal attractors to establish certain relationships between variables to be maintained, thus allowing a designed continuous sliding mode controller to drive the system's trajectory to a sliding surface in a finite time. Asymptotic stability of the system's motion in the sliding mode is then achieved. The effectiveness of the adopted approach is demonstrated by the results from a simulated flight of an automatically controlled small-scale four-rotor helicopter.

show abstract

Section: Introductionmentioning

confidence: 99%

Continuous Sliding Mode Control of a Quadrotor

Shakev

Topalov

2015

Recent Advances in Sliding Modes: From Control to Intelligent Mechatronics

View full text Add to dashboard Cite

show abstract

“…It provides a systematic procedure to construct a robust control Lyapunov function. So integrating backstepping algorithm into the design of SMC is an effective method for a kind of nonlinear system with uncertainties and disturbances [10], [11].…”

Section: Introductionmentioning

confidence: 99%

Backstepping based variable structure controller design for DiffServ Network

Zhang

Jing

Zhou

et al. 2008

2008 American Control Conference

View full text Add to dashboard Cite

In this paper, a nonlinear fluid flow model is used to analyze and control DiffServ Network. Backstepping design procedure is applied, which leads to a new adaptive sliding mode controller. In order to use backstepping design, the model is transformed into a parametric strict feedback form. And by using the adaptive backstepping sliding mode controller, buffer queue length regulation achieved against unknown system dynamics and uncertain disturbances. Under the ideal sliding mode, asymptotic stability is reached. The performance of the control scheme is verified by the simulation results.

show abstract

“…Remark 2: Regarding the adaptive backstepping SMC in [12] and [13], the Lyapunov function is defined as V =…”

Section: B Stability Analysismentioning

confidence: 99%

“…Two basic ideas are known from literature: 1) A sliding surface as a linear combination of the control errors is constructed at the final step of the backstepping. A SMC term ensures the convergence of the system states to the sliding surface, so that the control errors also converge [12] [13]. 2) Sliding surfaces are constructed in each step of the backstepping, so that the convergence of the system states is progressively approached [14][15] [16].…”

Section: Introductionmentioning

confidence: 99%

“…A single sliding surface is constructed in the last step of backstepping. Compared with the method proposed in [12] and [13], the stability analysis and the control law are considerably simplified. Gaussian radialbasis-function (GRBF) networks are applied to approximate the nonlinear system dynamics, which can not be linearly parameterised.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive Backstepping Sliding Mode Control with Gaussian Networks for a Class of Nonlinear Systems with Mismatched Uncertainties

Schilling

Schmid

Proceedings of the 44th IEEE Conference on Decision and Control

View full text Add to dashboard Cite

This paper is concerned with the adaptive slidingmode control of a class of nonlinear systems in nonlinear parametric-pure-feedback form with mismatched uncertainties. Backstepping design procedure is applied, which leads to a new adaptive sliding-mode control. Gaussian radial-basisfunction networks are used to approximate the unknown system dynamics. A new growing scheme of the Gaussian networks is proposed. The networks start with a loose structure in order to reduce the computational effort. More nodes are added to the networks progressively in order to improve the transient behaviour. With ideal sliding mode, asymptotic stability is reached. The performance of the control scheme is illustrated by simulation studies.

show abstract

Adaptive Backstepping Control

Cited by 5 publications

References 13 publications

Continuous Sliding Mode Control of a Quadrotor

Continuous Sliding Mode Control of a Quadrotor

Backstepping based variable structure controller design for DiffServ Network

Adaptive Backstepping Sliding Mode Control with Gaussian Networks for a Class of Nonlinear Systems with Mismatched Uncertainties

Contact Info

Product

Resources

About