Control of uncertain nonlinear systems using mixed nonlinear damping function and backstepping techniques

Abstract

This paper depicts the design of control law to stabilize nonlinear system with mixed match-mismatch uncertainties with bounded disturbance. The design approach exploit the advantages and flexibility of backstepping technique. To compensate for the uncertainties and bounded disturbance, nonlinear damping function is augmented to the pre-designed unperturbed stabilizing function. Throughout the design, Young's inequality and comparing squares method is used to avoid elimination of useful nonlinear terms as well as to obtain feasible control law.

Research on Nonlinear Automation for First Order Delays System

“…This conventional nonlinear controller is used in several applications such as in robotics, process control, aerospace and power electronics. This controller can solve two most important challenging topics in control theory, stability and robustness [12][13][14][15][16][17][18][19]. The main idea to design sliding mode control is based on the following formulation;…”

“…Sliding Mode Control (SMC) is one of the known nonlinear conventional controller which introduced by many researchers to control of nonlinear systems [1][2][3]. This controller works very well in certain and partly uncertain condition [1,[14][15][16][17][18][19]. The main challenge of this controller is equivalent part.…”

“…As this point if the sliding surface is equal to zero and it is chosen as desired sliding surface, the dynamic of FODS is derived to sliding surface and if switching function is used to reduce the challenge of uncertainty then the linearization and decoupling through the use of feedback, can be realized [12][13][14][15][16].…”

Research on First Order Delays System Automatio

“…First order delay system is nonlinear and delay system. The problem of nonlinearity can be reduced in linear control technique, with the following two methods [14][15]:…”

Design a Methodology to Model-Reference Control of First Order Delays System

“…Fine tuning the sliding surface slope is based on nonlinear equivalent part [9][10][11][12]. However, this controller is used in many applications but, pure sliding mode controller has an important challenge: chattering phenomenon [12][13][14][15][16][17][18][19]. Chattering phenomenon (Figure 1) can causes some problems such as saturation and heat the mechanical parts or drivers.…”