scholarly journals Nonlinear multiple-input-multiple-output adaptive backstepping control of underwater glider systems

2016 ◽  
Vol 13 (6) ◽  
pp. 172988141666948 ◽  
Author(s):  
Junjun Cao ◽  
Junliang Cao ◽  
Zheng Zeng ◽  
Lian Lian
Keyword(s):  
Tracking Error ◽  
Multiple Input Multiple Output ◽  
Lyapunov Stability Theory ◽  
Oscillatory Behavior ◽  
Backstepping Control ◽  
The State ◽  
Underwater Glider ◽  
Adaptive Backstepping ◽  
Linear Quadratic ◽  
Adaptive Backstepping Control

In this article, an adaptive backstepping control is proposed for multi-input and multi-output nonlinear underwater glider systems. The developed method is established on the basis of the state-space equations, which are simplified from the full glider dynamics through reasonable assumptions. The roll angle, pitch angle, and velocity of the vehicle are considered as control objects, a Lyapunov function consisting of the tracking error of the state vectors is established. According to Lyapunov stability theory, the adaptive control laws are derived to ensure the tracking errors asymptotically converge to zero. The proposed nonlinear MIMO adaptive backstepping control (ABC) scheme is tested to control an underwater glider in saw-tooth motion, spiral motion, and multimode motion. The linear quadratic regular (LQR) control scheme is described and evaluated with the ABC for the motion control problems. The results demonstrate that both control strategies provide similar levels of robustness while using the proposed ABC scheme leads to the more smooth control efforts with less oscillatory behavior.

scholarly journals Prescribed Performance Adaptive Backstepping Control for Winding Segmented Permanent Magnet Linear Synchronous Motor

2020 ◽  
Vol 25 (2) ◽  
pp. 18 ◽  
Author(s):  
Weiming Zhang ◽  
Dapan Li ◽  
Xuyang Lou ◽  
Dezhi Xu
Keyword(s):  
Permanent Magnet ◽  
Tracking Error ◽  
Lyapunov Stability Theory ◽  
Synchronous Motor ◽  
Backstepping Control ◽  
Adaptive Backstepping ◽  
Prescribed Performance ◽  
Adaptive Backstepping Control ◽  
Performance Technique ◽  
Linear Synchronous Motor

In this paper, a prescribed performance adaptive backstepping control (PPABC) strategy is proposed to control the speed of a winding segmented permanent magnet linear synchronous motor (WS-PMLSM) with variable parameters and an unknown load disturbance. Firstly, a mathematical model of WS-PMLSM is provided. Then, the prescribed performance technique is introduced in the adaptive backstepping control to improve the transient performance and ensures the tracking error converges within a predetermined range. In addition, a constrained command filter is introduced to address the problem of differential expansion which exists in the traditional backstepping method, and a filter compensation signal is designed against the filter error. Moreover, the adaptive law is designed based on Lyapunov stability theory to estimate the uncertainties caused by parameter changes and load disturbances. The stability of the proposed control strategy is given and the simulation of the control system is carried out under the proposed PPABC in contrast with another backstepping control and traditional PI control. Finally, the experiment is conducted to further show the effectiveness of the proposed controller.

Discrete-time adaptive backstepping control: Application to pumping station

2017 ◽  
Vol 232 (6) ◽  
pp. 683-694 ◽  
Author(s):  
Wael Chakchouk ◽  
Jaouher Chrouta ◽  
Chiheb Ben Regaya ◽  
Abderrahmen Zaafouri ◽  
Anis Sellami
Keyword(s):  
Discrete Time ◽  
Tracking Error ◽  
Experimental Tests ◽  
Backstepping Control ◽  
Operating Conditions ◽  
Integral Approach ◽  
Adaptive Backstepping ◽  
Adaptive Backstepping Control ◽  
Pumping Station ◽  
Wide Range

This article proposes an application of a discrete-time adaptive backstepping control strategy for a hydraulic process pumping station. The proposed solution leads to improved control system performances in terms of pressure and flow tracking in transient and standstill operation and improvement of pressure response time. The proposed design methodology is based on accurate model for pumping station, which is developed in previous works using fuzzy-C means algorithm. The control law design is based on discrete-time adaptive backstepping control, which is developed in the sense of Lyapunov stability theory using sign function, in order to satisfy various objectives of a stable pumping station like the asymptotic stability of the tracking error. To validate the proposed solution, simulation and experimental tests are made and analyzed. Compared to the conventional proportional–integral approach, the results show that the discrete-time adaptive backstepping control allows exhibiting excellent transient response over a wide range of operating conditions and especially is easier to be implemented in practice.

Robust Adaptive Backstepping Control Design for a Supercavitating Vehicle Model

2011 ◽  
Author(s):  
Xiaofeng Mao ◽  
Qian Wang
Keyword(s):  
Lyapunov Stability Theory ◽  
Backstepping Control ◽  
State Variables ◽  
Adaptive Backstepping ◽  
Vehicle Model ◽  
Adaptive Backstepping Control ◽  
Supercavitating Vehicle ◽  
Robust Adaptive ◽  
Control Designs ◽  
Effectiveness Parameter

In this paper, robust adaptive backstepping control is applied for a supercavitating vehicle model to account for the unknown slope in the fin force of the vehicle model. In the benchmark supercavitating-vehicle model, which is widely used for control designs in the literature, the fin force was modeled as a linear function with respect to the fin angle of attack, and the slope of the fin force was considered to be a known constant for a fixed cavitation number. However, more realistic modeling for fin force shows that the fin force slope is a function of the fin deflection angle, fin sweepback angle and fin immersion. Additionally, noting that the cavity shape at the transom region determines immersion of the fins, the fin immersion and thus the slope of the fin force will also be impacted by the so-called memory effect due to cavity-vehicle interaction. In this paper, we consider the fin effectiveness parameter relative to the cavitator, which is used to compute the slope of the fin force, to be an unknown parameter. Then we design a parameter estimation law for this fin effectiveness parameter and an adaptive backstepping controller to stabilize the supercavitating vehicle model. We prove the boundedness of all the signals and convergence of vehicle state variables via Lyapunov stability theory. In addition, if the bound of the fin effectiveness parameter is known, a projection of the parameter adaptive law can be used and the resulting controller implementation will maintain the boundedness and convergence properties.

Vibration suppression of wind turbine nacelle with active electromagnetic mass damper systems using adaptive backstepping control

2021 ◽  
pp. 107754632199887
Author(s):  
Sinan Basaran ◽  
Fevzi Cakmak Bolat ◽  
Selim Sivrioglu
Keyword(s):  
Vibration Suppression ◽  
Controller Design ◽  
Wind Load ◽  
Backstepping Control ◽  
Structural Systems ◽  
Adaptive Backstepping ◽  
Electromagnetic Mass ◽  
Flow Induced Vibration ◽  
Adaptive Backstepping Control ◽  
Mass Damper

Many structural systems, such as wind turbines, are exposed to high levels of stress during operation. This is mainly because of the flow-induced vibrations caused by the wind load encountered in every tall structure. Preventing the flow-induced vibration has been an important research area. In this study, an active electromagnetic mass damper system was used to eliminate the vibrations. The position of the stabilizer mass in the active electromagnetic mass damper system was determined according to the displacement information read on the system without using any spring element, unlike any conventional system. The proposed system in this study has a structure that can be implemented as a vibration suppressor in many intelligent structural systems. Two opposing electromagnets were used to determine the instant displacement of the stabilizer mass. The control currents to be given to these electromagnets are determined by using an adaptive backstepping control design. The adaptive controller algorithm can predict the wind load used in the controller design without prior knowledge of the actual wind load. It was observed that the designed active electromagnetic mass damper structure is successful in suppressing system vibrations. As a result, the proposed active electromagnetic mass damper system has been shown to be suitable for structural systems in flow-induced vibration damping.

Sign in / Sign up

Export Citation Format

Share Document