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Robust Backstepping Control Using Time Delay Estimation

시간 지연 추정을 이용한 강인 Backstepping 제어

  • 김성태 (한국과학기술원 대학원 기계공학과) ;
  • 장평훈 (한국과학기술원 기계공학과) ;
  • 강상훈 (한국과학기술원 대학원 기계공학과)
  • Published : 2004.12.01

Abstract

A controller is proposed for the robust backstepping control of a class of nonlinear multiple-input multiple-output (MIMO) systems which can be converted to a strict feedback form. The proposed robust backstepping control scheme follows a systematic procedure for the design of control laws and uses time delay estimation (TDE) to estimate the uncertainties such as parameter variations, unknown disturbances, and unmodeled dynamics, etc. The proposed controller can be also applied to nonlinear MIMO systems with unmatched uncertainties. Stability analysis of the closed-loop system which contains the plant and the proposed controller is also studied and hereby a sufficient stability condition for the closed-loop system is proposed. The simulation results show that the control scheme works well with uncertainties and the proposed stability condition is valid. The controller is experimentally verified on a single-link flexible arm to show the effectiveness of the proposed scheme in the complicated systems with uncertainties.

Keywords

Backstepping Control;Time Delay Estimation;Robust Control;Strict feedback System;Lyapunov Stability;Uncertainty

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