Improved Dynamical Adaptive Backstepping Second-Order Sliding Mode Control

Scarratt, Julie C.; Zinober, A.S.I.; Mills, Russell E.

doi:10.1142/9789812792082_0023

Cited by 2 publications

(1 citation statement)

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“…Because of the step-bystep systematic design procedure and its ability to deal with nonlinear systems with unmatched uncertainty and unknown parameters, backstepping has achieved great success in the design of nonlinear control systems [6]- [8]. Various control algorithms based on backstepping approach have provided a systematic framework to design tracking and regulation controllers for a large variety of nonlinear systems such as marine vehicles, satellites and airplanes, automotive problems, electric machines and robotics, jet engines, fluid and thermal problems, bioreactors, and even fusion reactors, etc.…”

Section: Introductionmentioning

confidence: 99%

Hybrid GA and Backstepping based Tracking Control of a Mobile Robot

Yang

Meng

2006

2006 6th World Congress on Intelligent Control and Automation

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In this paper, a hybrid genetic algorithm (GA) and backstepping based tracking controller is proposed for a nonholonomic mobile robot. Backstepping is a commonly used technique for nonlinear control systems. By using a backstepping motion controller alone, there exist oscillations at the initial phase in both linear velocity and angular velocity, as well as a big initial linear velocity jump. A genetic algorithm is used to optimize the parameters of the backstepping controller. The hybrid controller is capable of removing the velocity oscillations and speed jump. In addition, it can guarantee the system stability and convergence of tracking error. The effectiveness of the proposed hybrid control is demonstrated by simulation studies.

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Section: Introductionmentioning

confidence: 99%