Adaptive Sliding Mode Backstepping Control of Nonlinear Systems With Unmatched Uncertainty

Koshkouei, Ali J.; Zinober, A.S.I.; Burnham, Keith J.

doi:10.1111/j.1934-6093.2004.tb00365.x

Cited by 54 publications

(37 citation statements)

References 24 publications

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“…Despite the potential of these controllers, they are still based on linearisations of the plant dynamics about a specific operating condition [16,17]. The combination of the backstepping ISM structure with control allocation presented in this chapter, allows the same controller to be used in both nominal faultfree and faulty situations, and distinguishes the ideas in this chapter from existing backstepping based SMC/ISM schemes for nonlinear systems (see for example [18][19][20]). Note that the choice of allocation matrix in Sect.…”

Section: Notes and Referencesmentioning

confidence: 94%

Nonlinear Integral Sliding Mode

Hamayun

Edwards

Alwi

2016

Fault Tolerant Control Schemes Using Integral Sliding Modes

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Many of the existing FTC schemes in the literature are based on linear plant representations and are therefore only valid in the vicinity of the designed trim point. Therefore, one of the main challenges for practical implementation, especially for aircraft, is to ensure good performance for a wide range of operating conditions. Some of the linear based designs can be extended to handle variations in operating conditions, but direct nonlinear methods such as nonlinear dynamic inversion (NDI) and backstepping provide equally viable alternatives-with many benefits compared to the extended linear cases. One obvious benefit is the direct exploitation of the well-known aircraft equations of motion, which provides good and consistent performance throughout the flight envelope. This chapter presents a nonlinear fault tolerant scheme for longitudinal control of an aircraft system, comprising an integral sliding mode control allocation scheme and a backstepping structure. In fault-free conditions, the closed-loop system is governed by the backstepping controller and the integral sliding mode control allocation scheme only influences the performance if faults/failures occur in the primary control surfaces. In this situation the allocation scheme redistributes the control signals to the secondary control surfaces and the scheme is able to tolerate total failures in the primary actuator. A backstepping scheme taken from the existing literature is designed for flight path angle tracking (based on the nonlinear equations of motion) and this is used as the underlying baseline controller. The efficacy of the scheme is demonstrated using the RECOVER benchmark model. Nonlinear Aircraft ModelIn this chapter, the longitudinal motion of a rigid aircraft will be considered. Such a model is typically given by four differential equations

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Section: Notes and Referencesmentioning

confidence: 94%

Nonlinear Integral Sliding Mode

Hamayun

Edwards

Alwi

2016

Fault Tolerant Control Schemes Using Integral Sliding Modes

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“…Many remarkable results in this area have been reported, including feedback linearisation techniques (Esfandiari and Khalil 1992;Isidori 1995), backstepping design (Krstic, Kanellakopoulos and Kokotovic 1995) for systems with unmatched uncertainties (Koshkouei, Zinober and Burnham 2004). For uncertain systems, sliding mode control approaches have been developed by some researchers (Zinober 1990(Zinober , 1994Levant 2003Levant , 2005.…”

Section: Introductionmentioning

confidence: 97%

Robust adaptive control of uncertain non-linear systems using neural networks

Mohammad-Hoseini¹,

Farrokhi

Koshkouei

2008

International Journal of Control

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“…In recent years, the backstepping control method has been well developed, and various researches have achieved to combine the backstepping control method with other control methods. For example, in [9,10], based upon backstepping approach and sliding control method, a class of continuous output feedback controllers has been proposed. In [11], a wavelet adaptive backstepping controller is designed for a class of second-order nonlinear systems, in which the controller comprises a virtual backstepping controller and a robust controller.…”

Section: Introductionmentioning

confidence: 99%

“…It is worth pointing out that, in order to avoid the controller singularity problems, the virtual control coefficients in [9][10][11][12][13][14][15] are considered to be known and set equal to 1. However, the virtual control coefficients are always time-varying and even unknown in many cases (see, e.g., [16][17][18][19][20][21] and the references therein).…”

Section: Introductionmentioning

confidence: 99%

Adaptive robust backstepping control for a class of uncertain dynamical systems using neural networks

Wang

2015

Nonlinear Dyn

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The problem of robust stabilization is considered for a class of nonlinear systems in the presence of structure uncertainties, external disturbances, and unknown time-varying virtual control coefficients. It is supposed that the upper bounds of the external disturbances and the virtual control coefficients are unknown. The unknown structural uncertainties are approximated by using neural networks (NNs). In particular, the prior knowledge about the weights and approximation errors of NNs is not required. The improved adaptation laws with σ -modification are employed to estimate the unknown parameters, which contain the upper bounds of the external disturbances and the virtual control coefficients, and the norm forms of weights and approximate errors of the NNs. Then, by making use of the updated values of these unknown parameters, a class of backstepping approach-based continuous adaptive robust state feedback controllers is synthesized. It is also shown that the proposed adaptive robust backstepping controller can guarantee the uniform asymptotic stability of such uncertain dynamical systems. Finally, two numerical examples are given to demonstrate the effectiveness of the proposed controller.

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Adaptive Sliding Mode Backstepping Control of Nonlinear Systems With Unmatched Uncertainty

Cited by 54 publications

References 24 publications

Nonlinear Integral Sliding Mode

Nonlinear Integral Sliding Mode

Robust adaptive control of uncertain non-linear systems using neural networks

Adaptive robust backstepping control for a class of uncertain dynamical systems using neural networks

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