FAT-based adaptive backstepping control of an electromechanical system with an unknown input coefficient

Al-Shuka, Hayder F. N.

doi:10.5937/fme2101113a

Cited by 7 publications

(4 citation statements)

References 17 publications

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“…Substituting (27) and (26) into Eq. ( 11) to obtain (28) Using the FAT, we can get the following closedloop dynamics…”

Section: Fat-based Vvecmentioning

confidence: 99%

“…The Lyapunov theory is used as a basis for guaranteeing the stability of the proposed control law and the corresponding updating laws associated with unknown parameters. For unknown time-varying parameters, adaptive approximation control is used instead to comprise model-free techniques or so-called intelligent control [25][26][27][28][29][30][31][32][33][34]. On the other hand, robust control requires knowledge of limits of uncertainty.…”

Section: Introductionmentioning

confidence: 99%

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Function approximation technique (FAT)-based nonlinear control strategies for smart thin plates with cubic nonlinearities

Al-Shuka¹,

Abbas²

2022

FME Transactions

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The current work introduces three nonlinear control solutions for the regulation of a vibrating nonlinear plate considering model uncertainty. These solutions are feedback linearization control (FBL), virtual velocity error-based control (VVEC), and backstepping control (BSC). In the FBL control, a nonlinear control law is designed with linear closed-loop dynamics such that dynamic stability is ensured. Whereas, by the VVEC (or so-called passivity-based approach in the robotics community) the limitations of the feedback linearization are overcome. On the other side, the BSC selects virtual control variables with stabilized intermediate control laws based on Lyapunov theory. Systematic modeling for the target vibrating plate with piezo patches is described. In effect, considering the nonlinear influence makes the resulted mode shapes for the vibrating structure are highly coupled and careful control design is required. Using the Galerkin approach, the partial differential equation for the smart plate is transformed into definite ordinary differential equations; the multi-input multi-output model is established. The aforementioned control strategies are evaluated and investigated in detail. In essence, they are powerful tools for dealing with nonlinear dynamic systems, however, the VVEC could be considered superior in comparison with the FBL control and the BSC since the designed control structure does not include inertia inverse matrix and modal coordinate acceleration that could make computational problems. As a result, simulation experiments were focused on the VVEC strategy, and the latter was implemented on a simply supported thin plate structure with collocated piezo-patches. The results show the validity of the proposed control architecture.

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“…Substituting (27) and (26) into Eq. ( 11) to obtain (28) Using the FAT, we can get the following closedloop dynamics…”

Section: Fat-based Vvecmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Function approximation technique (FAT)-based nonlinear control strategies for smart thin plates with cubic nonlinearities

Al-Shuka¹,

Abbas²

2022

FME Transactions

Self Cite

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“…For example, each egg in this work represents a vector of 5 parameters [R, K, L, J, B], the values of K, L, and J are random. However, the R and B values must comply with the restrictions shown in (7) and (8). Therefore, once a random K has been proposed, and with the response signals to a step input, we can determine the value of R and B.…”

Section: Cuckoo Search Algorithm As Parametric Estimatormentioning

confidence: 99%

“…In [7], an adaptive sliding mode control was developed, and it was observed a better performance o compared with other conventional controllers like PID. In [8], the authors proposed an orthogonal function approximation technique FAT-based adaptive backstepping control system with three motor control modes: 1) motor torque control mode, 2) motor current control mode, and 3) motor voltage control mode; in [9], a hierarchical control law for DC motors fed by a DC-DC power Cuk converter, which shows the performance improvement when using a Cuk converter for angular velocity tacking trajectory; Another example of control works is [10] where the authors focus on optimizing control using metaheuristic algorithms.…”

Section: Introductionmentioning

confidence: 99%

Parameter Identification of Motors by Cuckoo Search Using Steady-State Relations

et al. 2021

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The direct current (DC) motors are widely used; therefore, they are subject to multiple studies, different control techniques or analyses require a dynamic DC motor model. The parameters are needed to complete the model, which can be challenging to obtain. Therefore, multiple parametric estimation techniques have been developed. This paper presents a metaheuristic cuckoo search algorithm modified for motors as a parametric estimation tool. A cost function is based on the current and velocity error obtained when an input voltage step is applied to the motor. The main difference with similar works is that we used the steady-state equations to determine the parameters. The algorithm proposed is compared with the Steiglitz-McBride and the original cuckoo search algorithms to evaluate its performance objectively. Simulated and experimental results show that the algorithm proposed can calculate the parameters with better accuracy than the original cuckoo search and Steiglitz-McBride. The modifications made to the original algorithm of the cuckoo search allowed finding the values of the parameters motor with a root mean square error of less than 0.1% for signals obtained with simulation and less than 1% for real signals sampled at 0.001 s.

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Cascade position-torque control strategy based on function approximation technique (FAT) for flexible joint robots

Al-Shuka

Corves²,

Abbas

2023

8TH ENGINEERING AND 2ND INTERNATIONAL CONFERENCE FOR COLLEGE OF ENGINEERING – UNIVERSITY OF BAGHDAD: COEC8-2021 Proceedings

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FAT-based adaptive backstepping control of an electromechanical system with an unknown input coefficient

Cited by 7 publications

References 17 publications

Function approximation technique (FAT)-based nonlinear control strategies for smart thin plates with cubic nonlinearities

Function approximation technique (FAT)-based nonlinear control strategies for smart thin plates with cubic nonlinearities

Parameter Identification of Motors by Cuckoo Search Using Steady-State Relations

Cascade position-torque control strategy based on function approximation technique (FAT) for flexible joint robots

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