Robust Backstepping Control of Robotic Nurse Unit to Assist Paraplegic Patient

2005 ◽  
Author(s):  
Ali Selk Ghafari ◽  
Ali Meghdari
Keyword(s):  
Backstepping Control ◽  
Hospital Environment ◽  
Tracking Problem ◽  
Backstepping Technique ◽  
Motion Controller ◽  
Satisfactory Performance ◽  
Environment Simulation ◽  
Backstepping Controller ◽  
Simulation Results ◽  
Paraplegic Patient

A robust motion controller based on backstepping technique for a robotic nurse unit to assist paraplegic patients is addressed in this paper. A backstepping controller is proposed for tracking a desired trajectory in hospital environment. Simulation results are provided to validate the proposed controller. The results show satisfactory performance of the designed controller in tracking problem.

Robust BackStepping Control Based DRNN for Flight Simulator

2010 ◽  
Vol 139-141 ◽  
pp. 1708-1713 ◽  
Author(s):  
Dong Kai Shen ◽  
Jing Jing Wang ◽  
Zheng Hua Liu
Keyword(s):  
High Performance ◽  
Design Procedure ◽  
Backstepping Control ◽  
Flight Simulator ◽  
System Control ◽  
Control Performance ◽  
External Disturbances ◽  
Motion Simulator ◽  
Backstepping Controller ◽  
Simulation Results

Flight motion simulator is one kind of servo system with uncertainties and nonlinearities. To acquire higher frequency response and good robustness for the flight simulator, we present a Backstepping controller based on a Diagonal Recurrent Neural Network (DRNN) to work out this problem. For one thing, the design procedure of the robust Backstepping controller is described. Subsequently, the principle and the design steps of DRNN are analyzed and expatiated respectively. In the end, simulation results on the flight motion simulator show that robust backstepping control based on DRNN can compensate for external disturbances and enhance robustness of the system control performance. Therefore both robustness and high performance of the flight motion simulator are achieved.

scholarly journals Backstepping Control Strategy for Overhead Crane System

2021 ◽  
Vol 39 (3A) ◽  
pp. 370-381
Author(s):  
Mohammed Y. Khudhair ◽  
Mohammed Y. Hassan ◽  
Saleem K. Kadhim
Keyword(s):  
Fuzzy Logic ◽  
Control Strategy ◽  
Fuzzy Logic Control ◽  
System Simulation ◽  
Backstepping Control ◽  
Control Action ◽  
Overhead Crane ◽  
Logic Control ◽  
Backstepping Controller ◽  
Simulation Results

Swinging on the shifted load by overhead crane is one of the main problems that all researchers suffer from. In addition, the crane system is a nonlinear and under-actuated system. Furthermore it is multivariable problem and it has coupling between its parameters ( . In this work, a developed type of anti-sway Backstepping controller is proposed to solve swinging on the shifted load for full non-linear overhead crane system. Simulation results were validated against the related articles previously published which used Fuzzy Logic control. The enhancement is measured for Backstepping control as a swinging to achieve 50.7%, 38.1% and 42.5% when it is compared with Fuzzy Logic control. The performance of the overhead crane is enhanced from 70.4% to 51% at the control action consumptions.

scholarly journals Reinforcement Learning-Based Backstepping Control for Container Cranes

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Xiao Sun ◽  
Zhihang Xie
Keyword(s):  
Sliding Mode ◽  
Backstepping Control ◽  
Underactuated System ◽  
Signal Tracking ◽  
Container Cranes ◽  
Q Learning ◽  
Container Crane ◽  
Satisfactory Performance ◽  
Control Scheme ◽  
Backstepping Controller

A novel backstepping control scheme based on reinforcement fuzzy Q-learning is proposed for the control of container cranes. In this control scheme, the modified backstepping controller can handle the underactuated system of a container crane. Moreover, the gain of the modified backstepping controller is tuned by the reinforcement fuzzy Q-learning mechanism that can automatically search the optimal fuzzy rules to achieve a decrease in the value of the Lyapunov function. The effectiveness of the applied control scheme was verified by a simulation in Matlab, and the performance was also compared with the conventional sliding mode controller aimed at container cranes. The simulation results indicated that the used control scheme could achieve satisfactory performance for step-signal tracking with an uncertain lope length.

scholarly journals Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Guoqing Xia ◽  
Jingjing Xue ◽  
Chuang Sun ◽  
Bo Zhao
Keyword(s):  
Lyapunov Function ◽  
Closed Loop ◽  
Control Law ◽  
Dynamic Positioning ◽  
Backstepping Technique ◽  
Closed Loop System ◽  
Positioning Control ◽  
Barrier Lyapunov Function ◽  
Backstepping Controller ◽  
Simulation Results

This paper presents a backstepping controller using barrier Lyapunov function (BLF) for dynamic positioning (DP) system. For safety reasons, the position and heading of DP ship are to be maintained in certain range. Thus, in this paper, a control law based on BLF and backstepping technique is proposed to limit the position and heading. The closed-loop system is proved stable in the sense of Lyapunov stability theories. In addition, since the velocities of ship are not measurable and the wave frequency (WF) motion is unavailable, a passive observer is adopted to estimate the velocities and the effect of WF motion. The simulation results show that the proposed controller can limit the position and heading of the vessel in a predefined range and verify the performance of the proposed controller and the passive observer.

Fault Tree Analysis for a Modern Communication System

2017 ◽  
Vol 7 (1) ◽  
Author(s):  
Kamal Hamid ◽  
Nadim Chahine
Keyword(s):  
Communication System ◽  
Communication Systems ◽  
Fault Tree ◽  
Fault Tree Analysis ◽  
Theory And Practice ◽  
Tree Analysis ◽  
Satisfactory Performance ◽  
System Components ◽  
Link Budget ◽  
Simulation Results

Wireless communications became one of the most widespread means for transferring information. Speed and reliability in transferring the piece of information are considered one of the most important requirements in communication systems in general. Moreover, Quality and reliability in any system are considered the most important criterion of the efficiency of this system in doing the task it is designed to do and its ability for satisfactory performance for a certain period of time, Therefore, we need fault tree analysis in these systems in order to determine how to detect an error or defect when happening in communication system and what are the possibilities that make this error happens. This research deals with studying TETRA system components, studying the physical layer in theory and practice, as well as studying fault tree analysis in this system, and later benefit from this study in proposing improvements to the structure of the system, which led to improve gain in Link Budget. A simulation and test have been done using MATLAB, where simulation results have shown that the built fault tree is able to detect the system’s work by 82.4%.

Adaptive Tracking Control of Wheeled Mobile Robots

2011 ◽  
Vol 55-57 ◽  
pp. 1195-1199 ◽  
Author(s):  
Min Zuo ◽  
Guang Ping Zeng ◽  
Xu Yan Tu
Keyword(s):  
Mobile Robots ◽  
Tracking Control ◽  
Control Input ◽  
Tracking Problem ◽  
Wheeled Mobile Robots ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Velocity Increments ◽  
Simulation Results ◽  
Adaptive Control Scheme

Trajectory-tracking problem of wheeled mobile robots is investigated. Adaptive control scheme utilized has only one control signal. The control input gives out the velocity increments which will be utilized to adjust the pose of WMR so as to track the desired trajectories. The controller adopted is simple to realize and easy to tune the parameters, which is benefit to real applications. Numerical simulation results show that the control scheme is valid.

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

2019 ◽  
pp. 014233121986777
Author(s):  
Fatih Adıgüzel ◽  
Yaprak Yalçın
Keyword(s):  
Discrete Time ◽  
Feedback Linearization ◽  
Inverted Pendulum ◽  
Backstepping Control ◽  
Disturbance Attenuation ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
Partial Feedback Linearization ◽  
Partial Feedback ◽  
Backstepping Controller

A discrete-time backstepping controller with an active disturbance attenuation property for the Inverted-Pendulum system is constructed in this paper. The main purpose of this study is to show that Immersion and Invariance (I & I) approach can be used to design a nonlinear observer for disturbance estimation and demonstrate its effectiveness considering a nonlinear system with an unstable equilibrium point, namely Inverted-Pendulum system, by utilizing the estimated values in backstepping control design. All designs are directly performed in discrete-time domain to obtain directly implementable observer and controller in discrete processors with superior performance compared to emulators. The Inverted-Pendulum system is not in strict feedback form therefore backstepping procedure cannot be directly applied. In order to enable backstepping construction, firstly a partial feedback linearization is performed and afterwards a novel discrete-time coordinate transformation is proposed. Prior to the construction of partial feedback linearizing and backstepping controller, a nonlinear disturbance estimator design is proposed with Immersion and Invariance approach. The estimated disturbance values used in the partial feedback linearization and construction of the backstepping controller. The global asymptotic stability of the estimator and local asymptotic stability of overall closed loop system are proved in the sense of Lyapunov. Performance of proposed direct discrete-time backstepping control with discrete I & I observer is compared with a backstepping sliding mode controller with another nonlinear disturbance observer (NDO) by simulations.

Hybrid Stepper Motor Backstepping Control in Micro-Step Operation

2005 ◽  
Author(s):  
Ali Selk Ghafari ◽  
Aria Alasty
Keyword(s):  
Disturbance Rejection ◽  
Reference Signal ◽  
Backstepping Control ◽  
Control Technique ◽  
Stepper Motor ◽  
Parameter Uncertainties ◽  
Control Approach ◽  
Control Scheme ◽  
Position Controller ◽  
Simulation Results

A nonlinear position controller based on backstepping control technique is proposed for a hybrid stepper motor in micro-step operation. Backstepping control approach is adapted to derive the control scheme, which is robust to parameter uncertainties and external load disturbance. Simulation results clearly show that the proposed controller can track the position reference signal successfully under parameter uncertainties and load torque disturbance rejection.

A Method of Parameters Selecting in Robust Control Based on PSO Algorithm

2011 ◽  
Vol 320 ◽  
pp. 574-579
Author(s):  
Hua Li ◽  
Zhi Cheng Xu ◽  
Shu Qing Wang
Keyword(s):  
Particle Swarm Optimization ◽  
Robust Control ◽  
Optimization Problem ◽  
Particle Swarm ◽  
Pso Algorithm ◽  
Swarm Optimization ◽  
Satisfactory Performance ◽  
Novel Method ◽  
Simulation Results

Aiming at a kind of uncertainties of models in complex industry processes, a novel method for selecting robust parameters is stated in the paper. Based on the analysis, parameters selecting for robust control is reduced to be an object optimization problem, and the particle swarm optimization (PSO) is used for solving the problem, and the corresponding robust parameters are obtained. Simulation results show that the robust parameters designed by this method have good robustness and satisfactory performance.

Adaptive backstepping control for parallel robot with uncertainties in dynamics and kinematics

Robotica ◽  
2014 ◽  
Vol 32 (6) ◽  
Author(s):  
Jing Zou ◽  
John K. Schueller
Keyword(s):  
Measurement Errors ◽  
Robot Manipulator ◽  
Kinematic Model ◽  
Parallel Robot ◽  
Joint Space ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Robot Tracking ◽  
Robot Systems ◽  
Backstepping Controller

SUMMARYIt is common in robot tracking control that controllers are designed based on the exact kinematic model of the robot manipulator. However, because of measurement errors and changes of states in practice, the original kinematic model is often no longer accurate and will degrade the control result. An adaptive backstepping controller is designed here for parallel robot systems with kinematics and dynamics uncertainties. Backstepping control is used to manage the transformation between the errors in task space and joint space. Adaptive control is utilized to compensate for uncertainties in both dynamics and kinematics. The controller demonstrated good performance in simulation.

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