Comparative Study Between Integrator Backstepping and Fuzzy Logic Control Applied to an Electric Powered Wheelchair

The aim of this paper is the control of electric powered wheelchairs (EPW) which was made for people suffering of temporary or permanent disabilities due to illnesses or accidents. The EPW is powered by two Permanent Magnet Synchronous Motors (PMSM) that are characterized by high efficiency, high torque, low noise and robustness; hence the dynamic model of the both EPW-motors is presented in the first. After that, a comparative study is made between two nonlinear command theory; Integrator Backstepping based on the second method of Lyapunov which combine the choice of the energy function with the laws control, and, fuzzy logic introduced to approach human reasoning with the help of an adequate representation of knowledge. To evaluate the performance of the two controls, numerical simulations are presented to show the evolution of electrical and mechanical quantities, the energy consumed and the squared error of the displacement and velocity. However, the reference trajectory used is that generated by the fifth-degree polynomial interpolation, which ensures a regular trajectory that is continuous in positions, velocities and accelerations.

Ein systematischer Backstepping-Zugang zur Regelung gekoppelter ODE-PDE-ODE-Systeme

ZusammenfassungDer systematische Zugang zum Backstepping-Entwurf von Zustandsrückführungen für gekoppelte ODE-PDE-ODE-Systeme, die sich zumeist für verteilt-parametrische Prozesse unter Berücksichtigung der Dynamik von Aktoren und Sensoren ergeben, erlaubt nicht nur die sukzessive und vereinfachte Herleitung von bereits bekannten Backstepping-Reglern sondern ermöglicht auch deren Entwurf für bisher nicht betrachtete Systemklassen. Der Zugang nutzt dabei die diesen Systemen inhärente strenge Rückkopplungsform aus. Wie beim klassischen Integrator-Backstepping wird das ODE-PDE-ODE-System schrittweise durch virtuelle Zustandsrückführungen stabilisiert und der Zustand in Fehlerkoordinaten überführt. Der vorgeschlagene, modulare Entwurf ist dabei im Wesentlichen unabhängig davon, ob der verteilt-parametrische Teil des Systems parabolisch oder hyperbolisch ist.

Integrator-Backstepping Based Control for Nonlinear Roll-to-Roll Web Dynamics

The paper presents a method for control analysis and design of roll-to-roll (R2R) dynamic system for printed electronics technology. The research provides an advanced control analysis and design methodology for a general multioutput multi-input (MIMO) strict-feedback class of nonlinear dynamic systems. The research starts with an integrator-backstepping control (IBSC) law formulation for the system by defining the modified tracking error in term of integral of normal tracking error. Considering each sublayer of control design process via a chosen Control Lyapunov function (CLF) and parameter assignment results in anIBSC law. Then, an IBSC law-based control strategy is provided for the design model. For the application of the proposed method, dynamic analysis on roll-to-roll (R2R) web system is made to transform a general nonlinear R2R web dynamics into a standard MIMO strict-feedback form for control analysis and design purposes. With the achieved model, an IBSC-based control algorithm is provided for numerical simulation and experiments. A control software is developed for implementing studies of numerical simulation and experiments to validate the reliability and feasibility of the proposed method.