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Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances

Title
Nonlinear Backstepping Control Design for Coupled Nonlinear Systems under External Disturbances
Author
정정주
Keywords
TRACKING PERFORMANCE; LYAPUNOV FUNCTIONS; ROBUST-CONTROL; OBSERVER
Issue Date
2019-02
Publisher
WILEY-HINDAWI
Citation
COMPLEXITY, NO. 7941302 , Page. 1-13
Abstract
A nonlinear backstepping control is proposed for the coupled normal form of nonlinear systems. The proposed method is designed by combining the sliding-mode control and backstepping control with a disturbance observer (DOB). The key idea behind the proposed method is that the linear terms of state variables of the second subsystem are lumped into the virtual input in the first subsystem. A DOB is developed to estimate the external disturbances. Auxiliary state variables are used to avoid amplification of the measurement noise in the DOB. For output tracking and unmatched disturbance cancellation in the first subsystem, the desired virtual input is derived via the backstepping procedure. The actual input in the second subsystem is developed to guarantee the convergence of the virtual input to the desired virtual input by using a sliding-mode control. The stability of the closed-loop is verified by using the input-to-state stable (ISS) property. The performance of the proposed method is validated via numerical simulations and an application to a vehicle system based on CarSim platform.
URI
https://www.hindawi.com/journals/complexity/2019/7941302/https://repository.hanyang.ac.kr/handle/20.500.11754/103741
ISSN
1076-2787; 1099-0526
DOI
10.1155/2019/7941302
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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