Adaptive backstepping sliding mode control design for vibration suppression of earth-quaked building supported by magneto-rheological damper

In this study, the design of adaptive backstepping sliding mode control (ABSMC) has been developed for vibration suppression of earth-quaked building supported by magneto-rheological (MR) damper. The control and adaptive laws developed based on ABSMC methodology has been established according to stability analysis based on Lyupunov theorem. A Single degree of freedom (SDOF) building system has been considered and the earthquake acceleration data used in performance analysis of the proposed controller is based on El Centro Imperial Valley Earthquake. The ABSMC has been compared to classical sliding mode control in terms of vibration suppression in the controlled system subjected to earthquake. The performance of proposed controller has been assessed via computer simulation, which showed its effectiveness to stabilize the building against earthquake vibration and the boundness of estimated stiffness and viscosity coefficients.

Backstepping sliding-mode control for active suspension system matching mechanical elastic wheel with uncertainties

For the purpose of anti-puncture and lightweight, a new type of mechanical elastic wheel (MEW) is constructed. However, the large radial stiffness of MEW has a negative effect on ride comfort. To make up for the disadvantage, this paper proposes a novel control strategy consisting of backstepping control and integral sliding-mode control, considering the uncertainties of active suspension and MEW. First, an active suspension system matching MEW is established, discussing the impact of uncertainties. The nonlinear radial characteristic of MEW is fitted based on the previous experiment results. Then, in order to derive ideal motions, an ideal suspension system combining sky-hook and ground-hook damping control is introduced. Next, ignoring the nonlinear characteristics and external random disturbance, a backstepping controller is designed to track ideal variables. Combined with the backstepping control law, an integral sliding-mode control strategy is given, further taking parameter uncertainty and external disturbance into account. To tackle chattering problem, an adaptive state variable matrix is applied. By using Lyapunov stability theory, the whole scheme proves to be robust and convergent. Finally, co-simulations with Carsim and MATLAB/Simulink are carried out. By analyzing the simulation results, it can be concluded that the vehicle adopting backstepping sliding-mode control performs best, with excellent real-time performance and robustness.

The Control Algorithm and Experimentation of Coaxial Rotor Aircraft Trajectory Tracking Based on Backstepping Sliding Mode

In view of the uncertainty of model parameters, the influence of external disturbances and sensor noise on the flight of coaxial rotor aircraft during autonomous flight, a robust backstepping sliding mode control algorithm for the position and attitude feedback control system is studied to solve the trajectory tracking problem of an aircraft in the case of unknown external interference. In this study, a non-linear dynamic model based on a disturbed coaxial rotor aircraft was established for an unknown flight. Then, a non-linear robust backstepping sliding mode controller was designed, which was divided into two sub-controllers: the attitude controller and the position controller of the coaxial rotor aircraft. In the controller, virtual control was introduced to construct the Lyapunov function to ensure the stability of each subsystem. The effectiveness of the proposed controller was verified through numerical simulation. Finally, the effectiveness of the backstepping sliding mode control algorithm was verified by flight experiments.

MPPT for Photovoltaic System Using Adaptive Fuzzy Backstepping Sliding Mode Control

This paper presents an intelligent monitoring control strategy for a maximum power point tracking (MPPT) in photovoltaic (PV) system applications. The design of the proposed nonlinear adaptive control law (AFBSMC) is formulated based on adaptive fuzzy systems, backstepping approach and sliding mode technique to maximize the power output of a PV system under various sets of conditions and parameters variation. Unlike many conventional controllers, the main contribution of the present paper provides a soften control law which useful to handle parameters variations due to the different operating conditions occurring on the PV system and makes the controller easy to implement. This aim is achieved using fuzzy systems in an adaptive scheme to approximate the switching control function of the global control law while backstepping sliding mode control compensates uncertainties and external disturbances. The analytical stability proof of the closed-loop system is corroborated via Lyapunov synthesis while numerical simulations of different operating conditions of a PV system is conducted to validate the effectiveness of the proposed approach.

Design and Implementation of Integral Backstepping Sliding Mode Control for Quadrotor Trajectory Tracking

A robust trajectory tracking control scheme for quadrotor unmanned aircraft vehicles under uncertainties is proposed herein. A tracking controller combined with the sliding mode and integral backstepping is performed for position and attitude tracking. The stability of the trajectory tracking controller of the quadrotor is investigated via Lyapunov stability analysis. By incorporating force and torque disturbances into numerical simulations, the results demonstrate the effectiveness of the proposed quadrotor trajectory controller. Finally, the experiments validate the feasibility of the proposed controller.