Robust Synchronization of Duffing System Using Integral Action in Backstepping Design

2020 ◽  
Vol 1 (1) ◽  
pp. 1-5
Author(s):  
Shubhobrata Rudra ◽  
Ranjit kumar Barai ◽  
Madhubanti Maitra ◽  
Rupam Kumar Dewan ◽  
Paramita Mandal ◽  
...  
Keyword(s):  
Disturbance Rejection ◽  
Chaotic Systems ◽  
Control Design ◽  
Salient Feature ◽  
Backstepping Design ◽  
Simulation Studies ◽  
Design Algorithm ◽  
Duffing System ◽  
Robust Synchronization ◽  
Integral Action

Backstepping is a realistic nonlinear control design algorithm based on Lyapunov design approach; therefore, it automatically ensures the convergence of the regulated variable to zero. In this paper, it has been proposed for robust synchronization of Duffing chaotic systems. Integral action is being used to enhance the control action of the controller in steady state against the disturbances. The salient feature of the design is that the derived control doesn’t contain any derivative terms; consequently it simplifies the controller realization. The effectiveness of the proposed controller has been demonstrated in simulation studies. The performance of the controller has been evaluated not only based on its synchronizing ability but also the disturbance rejection ability of the controller has been verified.

Robust Non-Linear H∞/Adaptive Control of Robot Manipulator Motion

1994 ◽  
Vol 208 (4) ◽  
pp. 221-230 ◽  
Author(s):  
W Feng ◽  
I Postlethwaite
Keyword(s):  
Disturbance Rejection ◽  
Robot Manipulator ◽  
Control Design ◽  
System Modelling ◽  
Robust Performance ◽  
Original Design ◽  
Considerable Effort ◽  
Plant Model ◽  
Model Mismatch ◽  
Bounded Disturbances

In robotics, despite considerable effort to minimize system modelling errors, uncertainties are always present and sometimes significant. In this paper, modelling errors are first represented by a class of bounded disturbances in the input channels (torques) of the robot. A measure of the robot system's ability to reject these disturbances is formulated in an L2 gain sense and a control design is subsequently proposed to achieve optimal disturbance rejection. If more detailed information is available on the plant-model mismatch, then the control design can be modified to incorporate an adaptive scheme (with explicit parameter updating laws) in order to reduce the conservativeness of the original design and to improve robust performance of the overall system.

Observer-based synchronization of uncertain chaotic systems subject to input saturation

2017 ◽  
Vol 40 (8) ◽  
pp. 2526-2535 ◽  
Author(s):  
S Mohammadpour ◽  
T Binazadeh
Keyword(s):  
Chaotic Systems ◽  
Actuator Saturation ◽  
Input Saturation ◽  
State Variables ◽  
Adaptive Stabilization ◽  
External Disturbances ◽  
Van Der Pol ◽  
Robust Synchronization ◽  
Effective Performance ◽  
Uncertain Chaotic Systems

This paper considers the synchronization between two chaotic systems (i.e. master and slave systems) in the presence of practical constraints. The considered constraints are: the unavailability of state variables of both master and slave system, the presence of non-symmetric input saturation, model uncertainties and/or external disturbances (matched and/or unmatched). Considering these constraints, an adaptive robust observer-based controller is designed, which guarantees synchronization between the chaotic systems. For this purpose, a theorem is given and, according to a Lyapunov adaptive stabilization approach, it is proved that the robust synchronization via the proposed observer-based controller is guaranteed in the presence of actuator saturation and it is shown that even if the control signal is saturated, the proposed controller leads to a robust synchronization objective. Finally, in order to show the applicability of the proposed controller, it is applied on the Van der Pol chaotic systems. Computer simulations verify the theoretical results and show the effective performance of the proposed controller.

Robust Adaptive Synchronization of Chaotic Systems With Nonsymmetric Input Saturation Constraints

2017 ◽  
Vol 13 (1) ◽  
Author(s):  
Samaneh Mohammadpour ◽  
Tahereh Binazadeh
Keyword(s):  
Chaotic Systems ◽  
Sliding Mode ◽  
Input Saturation ◽  
Adaptive Synchronization ◽  
Adaptive Sliding Mode Controller ◽  
Robust Synchronization ◽  
Effective Performance ◽  
Saturation Constraints ◽  
Robust Adaptive ◽  
Input Saturation Constraints

This paper considers the robust synchronization of chaotic systems in the presence of nonsymmetric input saturation constraints. The synchronization happens between two nonlinear master and slave systems in the face of model uncertainties and external disturbances. A new adaptive sliding mode controller is designed in a way that the robust synchronization occurs. In this regard, a theorem is proposed, and according to the Lyapunov approach the adaptation laws are derived, and it is proved that the synchronization error converges to zero despite of the uncertain terms in master and slave systems and nonsymmetric input saturation constraints. Finally, the proposed method is applied on chaotic gyro systems to show its applicability. Computer simulations verify the theoretical results and also show the effective performance of the proposed controller.

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