Performance comparison of backstepping and sliding mode controllers

Tiga, Amira; Ghorbel, Chekib; Braïek, Naceur Benhadj

doi:10.1109/aset.2018.8379899

Cited by 5 publications

(4 citation statements)

References 15 publications

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“…The results of comparison simulation (Simulation 6) are given in Figure 9 and Figure 10. In the literature, it is mentioned that the backstepping has worse robustness to disturbances compared with sliding-mode control (Tiga et al, 2018). However, our simulation results showed that by adding disturbance estimation, the backstepping control can compete in performance with the sliding mode control and it has no problems such as chattering phenomena.…”

Section: Simulation Resultsmentioning

confidence: 99%

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

Adıgüzel

Yalçın

2019

Transactions of the Institute of Measurement and Control

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A discrete-time backstepping controller with an active disturbance attenuation property for the Inverted-Pendulum system is constructed in this paper. The main purpose of this study is to show that Immersion and Invariance (I & I) approach can be used to design a nonlinear observer for disturbance estimation and demonstrate its effectiveness considering a nonlinear system with an unstable equilibrium point, namely Inverted-Pendulum system, by utilizing the estimated values in backstepping control design. All designs are directly performed in discrete-time domain to obtain directly implementable observer and controller in discrete processors with superior performance compared to emulators. The Inverted-Pendulum system is not in strict feedback form therefore backstepping procedure cannot be directly applied. In order to enable backstepping construction, firstly a partial feedback linearization is performed and afterwards a novel discrete-time coordinate transformation is proposed. Prior to the construction of partial feedback linearizing and backstepping controller, a nonlinear disturbance estimator design is proposed with Immersion and Invariance approach. The estimated disturbance values used in the partial feedback linearization and construction of the backstepping controller. The global asymptotic stability of the estimator and local asymptotic stability of overall closed loop system are proved in the sense of Lyapunov. Performance of proposed direct discrete-time backstepping control with discrete I & I observer is compared with a backstepping sliding mode controller with another nonlinear disturbance observer (NDO) by simulations.

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Section: Simulation Resultsmentioning

confidence: 99%

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

Adıgüzel

Yalçın

2019

Transactions of the Institute of Measurement and Control

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“…eşitliği ile ifade edilebilir. Buna göre ters sarkaç sisteminin durum uzay modeli [19] 1 3 (10) eşitlikleri kolaylıkla çıkartılır.…”

Section: Ters Sarkaç Sistemi Ve Matematiksel Modeliunclassified

Adaptive gain decoupled sliding mode control of inverted pendulum

Kiliç¹,

Bicakcı²,

Güneş³

2019

Balıkesir Üniversitesi Fen Bilimleri Enstitüsü Dergisi

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Bu çalışmada gerçek bir ters sarkaç sistemi için yeni bir uyarlamalı kazançlı, bağımsız yüzeyli kayan kip denetim tekniği (UKKKD) önerilmektedir. Böylece modellenemeyen ve üst sınır değerleri belirli olmayan bozucu etkilere karşı dayanıklı bir denetim yapısı elde edilmektedir. Önerilen denetim yöntemi ile dayanıklılık özelliği en küçük kazanç değerlerinde dahi korunmakta ve böylece kayan kip denetimin temel problemi olan çatırtı etkisi de azaltılmaktadır. Çalışmada, ters sarkaç ve denetim sisteminin MATLAB/SIMULINK benzetim ile uygulama grafikleri karşılaştırmalı olarak verilmiş ve denetimin olumlu etkisi doğrulanmıştır.

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“…It proved its effectiveness in many frameworks, [21][22][23][24] and compared to other robust controllers, it showed its capability to stabilize the system and to track accurately the reference signal in reduced response time. 25,26 However, it can be sensitive to the system parameters variation.…”

mentioning

confidence: 99%

Backstepping global and structural stabilization of direct current/direct current boost converter

Madni

Guesmi

Benalia

2022

Circuit Theory & Apps

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Summary This paper deals with the stabilization of direct current/direct current (DC/DC) boost converter and the nonlinear phenomena elimination using a constrained backstepping technique. Based on the converter averaged model, the proposed control approach is designed and the input to state stability concept is used to prove the system global stability. Furthermore, the structural stability is proven to show the efficiency of the proposed approach to suppress the nonlinear phenomena exhibited by the converter. The simulation results illustrate the different stability regions of the system as functions of the controller and the system parameters. The bifurcation diagrams are used to show the effectiveness of the proposed approach in terms of nonlinear phenomena suppression in wide regions of the system operating domains.

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Performance comparison of backstepping and sliding mode controllers

Cited by 5 publications

References 15 publications

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

Discrete-time backstepping control with nonlinear adaptive disturbance attenuation for the inverted-pendulum system

Adaptive gain decoupled sliding mode control of inverted pendulum

Backstepping global and structural stabilization of direct current/direct current boost converter

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