Design of Combined Sliding Mode Controller Back Stepping Using Genetic Algorithm

Abstract

This research has tried to achieve a new robust controller with back stepping control and sliding mode control method. Also as we know, in all analytical controllers there are constant coefficients like the back stepping and sliding mode controllers, redesigning the Lyapunov and the feedback linearization,-∞ and so forth. There are two major problems in their set: firstly, the adjustment is cumbersome and time-consuming. Secondly, assuming that these parameters can be adjusted to workability, a designer can never tell exactly what are the parameters chosen to be optimal. To resolve this problem, the numerical algorithm which is a genetic algorithm is used here and we have the optimal parameters of the proposed controller. That genetic algorithm (GA) has been used to solve difficult engineering problems that are complex and difficult to solve by conventional optimization methods, and at the end of this section, we apply a new robust controller on ball and beam system. Simulation results are expressed.

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

“…Submitting equations ( 25), (28), and (34) into equation (36), the time derivative of Lyapunov function will satisfy the following formula.…”

“…Working together with fuzzy supervisor, the sliding-mode controller can achieve perfect tracking goals, considering uncertainties. In Marvi Moghadam and Balochian, 28 a robust control method is proposed, using backstepping control and sliding-mode control. To facilitate parameter adjustment, the numerical algorithm is introduced, resolving problems that are difficult to deal with by ordinary methods.…”

“…In the paper, a backstepping sliding-mode controller is proposed in consideration of MEW characteristic and uncertainties, inspired by previous researches. 24,28 The designed controller consists of two parts, including the initial backstepping control and integral sliding-mode control. Aiming at the improvement of vertical displacement and pitch motion, backstepping control is a direct and effective way.…”

Adaptive backstepping control design for ball and beam system

“…The nonlinear backstepping control synthesis was considered in [5]. In [6], backstepping and Sliding Mode Control (SMC) were applied with a new proposed strategy that guaranties robustness. In [7], the aim was the application of different control schemes to the problem of ball and beam stabilization.…”