RBF NN-Based Block PD-Type Backstepping Control of Induction Motor

2011 ◽  
Vol 467-469 ◽  
pp. 1116-1121
Author(s):  
Hai Yan Li ◽  
Yun An Hu
Keyword(s):  
Design Method ◽  
Lyapunov Theory ◽  
Control Law ◽  
Backstepping Method ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Control Matrix ◽  
Unknown Control ◽  
The Stability ◽  
Novel Design

For the model of induction motors(IMs) in field-oriented coordinates, a novel design method of controller is proposed, which combining block adaptive backstepping method with neural networks, introducing PD-type feedback, and making use of the diagonal feature of the unknown control matrix and the boundedness of its derivative. The control law and parameter updating law are derived using Lyapunov theory, which guarantees the stability of the whole system. The proposed approach can track the rotor speed and flux reference signals under parameter uncertainties. Simulation results show the effectiveness of the proposed approach.

NN-Based Block Adaptive Backstepping Control of Induction Motor

2011 ◽  
Vol 268-270 ◽  
pp. 528-533
Author(s):  
Hai Yan Li ◽  
Yun An Hu
Keyword(s):  
Induction Motor ◽  
Induction Motors ◽  
Lyapunov Theory ◽  
Control Law ◽  
Rotor Speed ◽  
Backstepping Method ◽  
Adaptive Backstepping ◽  
Reference Signals ◽  
Simulation Results ◽  
The Stability

Based on the model of induction motors in field-oriented coordinates, a block adaptive backstepping method is used to design a controller for induction motor. The control law and parameter updating law are derived using Lyapunov theory, which guarantees the stability of the whole system. The proposed approach can track the rotor speed and flux reference signals under parameter and load uncertainties. Simulation results show the effectiveness of the proposed approach.

scholarly journals Grey Signal Predictor and Fuzzy Controls for Active Vehicle Suspension Systems via Lyapunov Theory

2021 ◽  
Vol 16 (3) ◽  
Author(s):  
Tim Chen ◽  
Chih Ching Hung ◽  
Yu Ching Huang ◽  
John C.Y. Chen ◽  
Samiur Rahman ◽  
...  
Keyword(s):  
Bat Algorithm ◽  
Adaptive Controller ◽  
Lyapunov Theory ◽  
Vehicle Suspension ◽  
Control Law ◽  
Backstepping Method ◽  
Application Range ◽  
Suspension Systems ◽  
Fuzzy Neural ◽  
The Stability

In order to investigate and decide that the vehicle asymptotic vibration stability and improved comfort, the present paper deals with a fuzzy neural network (NN) evolved bat algorithm (EBA) backstepping adaptive controller based on grey signal predictors. The Lyapunov theory and backstepping method is utilized to appraise the math nonlinearity in the active vehicle suspension as well as acquire the final simulation control law in order to track the suitable signal. The Discrete Grey Model DGM (2,1) have been thus used to acquire prospect movement of the suspension system, so that the command controller can prove the convergence and the stability of the entire formula through the Lyapunov-like lemma. The controller overspreads the application range of mechanical elastic vehicle wheel (MEVW) as well as lays a favorable theoretic foundation in adapting to new wheels.

scholarly journals A Novel Robust Adaptive Backstepping Method Combined with SMC on Strict-Feedback Nonlinear Systems Using Neural Networks

2019 ◽  
Vol 291 ◽  
pp. 01001
Author(s):  
Yahui Li ◽  
Feng Gao ◽  
Franco Bernelli-Zazzera ◽  
Zeyou Tong ◽  
Fugui Li ◽  
...  
Keyword(s):  
Nonlinear Systems ◽  
Sliding Mode ◽  
Design Method ◽  
The Novel ◽  
Backstepping Method ◽  
Adaptive Backstepping ◽  
Closed Loop Systems ◽  
Robust Adaptive ◽  
Derivatives Of ◽  
Strict Feedback

Adaptive backstepping methodology is a powerful tool for nonlinear systems, especially for strict-feedback ones, but its robustness still needs improvements. In this paper, combined with sliding mode control (SMC), a new backstepping design method is proposed to guarantee the robustness. In this method, based on the novel combining method, the auxiliary controller is introduced only in the final step of the real controller, unlike traditional methods, which usually all include an auxiliary controller in every de-signing step to guarantee the robustness of the closed-loop systems. The novel combing methods can avoid calculating multiple and high-order derivatives of the auxiliary controllers in the intermediate steps, low-ering the computational burden in evaluating the controller. The effectiveness of the proposed approach is illustrated from simulation results.

scholarly journals Adaptive Backstepping Attitude Control Law with L2-Gain Performance for Flexible Spacecraft

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Rui-Qi Dong ◽  
Yu-Yao Wu ◽  
Ying Zhang ◽  
Ai-Guo Wu
Keyword(s):  
Attitude Control ◽  
External Disturbance ◽  
Performance Criterion ◽  
Lyapunov Theory ◽  
Flexible Spacecraft ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Unknown Parameters ◽  
Inertia Matrix ◽  
Attitude Maneuver

In this paper, an observer-based adaptive backstepping attitude maneuver controller (briefly, OBABC) for flexible spacecraft is presented. First, an observer is constructed to estimate the flexible modal variables. Based on the proposed observer, a backstepping control law is presented for the case where the inertia matrix is known. Further, an adaptive law is developed to estimate the unknown parameters of the inertia matrix of the flexible spacecraft. By utilizing Lyapunov theory, the proposed OBABC law can guarantee the asymptotical convergence of the closed-loop system in the presence of the external disturbance, incorporating with the L2-gain performance criterion constraint. Simulation results show that the attitude maneuver can be achieved by the proposed observer-based adaptive backstepping attitude control law.

scholarly journals Robust dynamic inversion control of flight control system based on L1 adaptive structure

2021 ◽  
Vol 39 (5) ◽  
pp. 995-1004
Author(s):  
Yu LI ◽  
Xiaoxiong LIU ◽  
Ruichen MING ◽  
Shaoshan SUN ◽  
Weiguo ZHANG
Keyword(s):  
Control System ◽  
Flight Control ◽  
Dynamic Performance ◽  
Dynamic Inversion ◽  
Control Law ◽  
Flight Control System ◽  
Parameter Uncertainties ◽  
Strong Robustness ◽  
Adaptive Structure ◽  
The Stability

Nonlinear Dynamic Inversion(NDI) control has excellent rapidity and decoupling ability, unfortunately it lacks the essential robustness to disturbance. From the perspective of enhancing the robustness, an adaptive NDI method based on L1 adaptive structure is proposed. The L1 adaptive structure is introduced into the NDI control to enhance its robustness, which also guarantees the stability and expected dynamic performance of the system suffering from the disturbance influence. Secondly, the flight control law of the advanced aircraft is designed based on the present method to improve the robustness and fault tolerance of the flight control system. Finally, the effectiveness of the flight control law based on the present approach is verified under the fault disturbance. The results showed that the flight control law based on L1 adaptive NDI has excellent dynamic performance and strong robustness to parameter uncertainties and disturbances.

Backstepping Control for a Five-Phase Permanent Magnet Synchronous Motor Drive

2015 ◽  
Vol 6 (4) ◽  
pp. 842 ◽  
Author(s):  
Anissa Hosseynia ◽  
Ramzi Trabelsi ◽  
Atif Iqbal ◽  
Med Faouzi Mimounia
Keyword(s):  
Permanent Magnet ◽  
Control Strategy ◽  
Permanent Magnet Synchronous Motor ◽  
Synchronous Motor ◽  
Backstepping Control ◽  
Lyapunov Theory ◽  
Motor Drive ◽  
Control Law ◽  
Backstepping Controller ◽  
The Stability

This paper deals with the synthesis of a speed control strategy for a five-phase permanent magnet synchronous motor (PMSM) drive based on backstepping controller. The proposed control strategy considers the nonlinearities of the system in the control law. The stability of the backstepping control strategy is proved by the Lyapunov theory. Simulated results are provided to verify the feasibility of the backstepping control strategy.

Response control of a floating airport in heading waves with output saturation

2018 ◽  
Vol 25 (3) ◽  
pp. 571-580
Author(s):  
Shuyan Xia ◽  
Daolin Xu ◽  
Haicheng Zhang ◽  
Yousheng Wu
Keyword(s):  
Control Strategy ◽  
Control Method ◽  
Stability Control ◽  
Control Law ◽  
Backstepping Method ◽  
Floating Platform ◽  
Nonlinear Dynamic Model ◽  
Floating Structure ◽  
The Stability ◽  
Floating Airport

This paper presents a nonlinear control strategy to stabilize the response of a floating platform in waves. The floating platform consists of multiple floating modules connected in sequence with flexible connectors. A nonlinear dynamic model with a number of controllers is developed for the stability control of the chain-shape floating structure. The backstepping method in conjunction with the Lyapunov stability criteria is proposed to derive the control law for each of the control actuators where the actuator forces are limited with output saturation. The numerical experiments illustrate the feasibility and effectiveness of the control strategy in various conditions of heading waves. The performance of the control method is discussed, especially associated with the saturated output.

Control of an Underactuated Three-Link Passive–Active–Active Manipulator Based on Three Stages and Stability Analysis

2014 ◽  
Vol 137 (2) ◽  
Author(s):  
Xu-Zhi Lai ◽  
Chang-Zhong Pan ◽  
Min Wu ◽  
Simon X. Yang ◽  
Wei-Hua Cao
Keyword(s):  
Nonlinear Control ◽  
Control Strategy ◽  
Lyapunov Theory ◽  
Control Law ◽  
Integrated Method ◽  
The Third ◽  
Preparatory Stage ◽  
The Stability ◽  
And Control ◽  
Nonlinear Control Law

This paper presents a novel three-stage control strategy for the motion control of an underactuated three-link passive–active–active (PAA) manipulator. First, a nonlinear control law is designed to make the angle and angular velocity of the third link convergent to zero. Then, a swing-up control law is designed to increase the system energy and control the posture of the second link. Finally, an integrated method with linear control and nonlinear control is introduced to stabilize the manipulator at the straight-up position. The stability of the control system is guaranteed by Lyapunov theory and LaSalle’s invariance principle. Compared to other approaches, the proposed strategy innovatively introduces a preparatory stage to drive the third link to stretch-out toward the second link in a natural way, which makes the swing-up control easy and quick. Besides, the intergraded method ensures the manipulator moving into the balancing stage smoothly and easily. The effectiveness and efficiency of the control strategy are demonstrated by numerical simulations.

Neural network adaptive backstepping fault tolerant control for unmanned airships with multi-vectored thrusters

2020 ◽  
pp. 095441002097661
Author(s):  
Shiqian Liu ◽  
James F Whidborne
Keyword(s):  
Neural Network ◽  
Trajectory Tracking ◽  
Actuator Saturation ◽  
Fault Tolerant ◽  
Fault Tolerant Control ◽  
Lyapunov Theory ◽  
Actuator Faults ◽  
Adaptive Backstepping ◽  
Parameter Uncertainties ◽  
Tracking Errors

This paper presents the fault tolerant control (FTC) of an unmanned airship with multiple vectored thrusters in the presence of model parameter uncertainties and unknown wind disturbances. A fault tolerant control based on constrained adaptive backstepping (CAB) approach, combined with a radial basis function neural network (RBFNN) approximation, is proposed for the airship with thruster faults. A wind observer is designed to estimate the bounded wind disturbances. An adaptive fault estimator is proposed to estimate the unknown actuator faults. A weighted pseudo inverse based control allocation is incorporated to reconstruct and optimize the practical control inputs of the failed airship under constraints of actuator saturation. Rigorous stability analysis shows that trajectory tracking errors of the airship position and attitude converge to the desired set through Lyapunov theory. Numerical simulations demonstrate the fault tolerant trajectory tracking capability of the proposed NN-CAB controller under the actuator faults, even in the presence of aerodynamic coefficient uncertainties, and unknown wind disturbances.

scholarly journals A Dynamics Controller Design Method for Car-like Mobile Robot Formation Control

2018 ◽  
Vol 160 ◽  
pp. 06003
Author(s):  
Baofang Wang ◽  
Chen Qian ◽  
Qingwei Chen
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Lyapunov Theory ◽  
State Equations ◽  
Characteristic Model ◽  
The Stability ◽  
Error State

A dynamics controller design method based on characteristic model is proposed for the formation control problem of car-like mobile robots. Only kinematics controller is not enough for some cases such as the environment is rugged, and the dynamics parameters of the robot are time-varying. Simulation results show that the proposed method can improve the responding speed of the mobile robots and maintain high formation accuracy. First, we obtain the kinematic error state equations according to the leader-follower method. A kinematics controller is designed and the stability is proved by Lyapunov theory. Then the characteristic model of the dynamics inner loop is established. A sliding mode controller is designed based on the second order discrete model, and the stability of the closed-loop system is analyzed. Finally, simulations are designed in MATLAB and Microsoft Robotics Developer Studio 4 (MRDS) to verify the effectiveness of the proposed method.

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