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Discrete Dynamics in Nature and Society - Volume 2014 2014, Article ID 619010, 10 pages -

Research Article

Department of Electrical Engineering, COMSATS Institute of Information Technology CIIT, Park Road, Chak Shahzad, Islamabad 44000, Pakistan

Center for Advanced studies in Telecom, COMSATS CIIT, Park Road, Chak Shahzad, Islamabad 44000, Pakistan

Department of Electronics Engineering, MAJU, Express Highway, Kahuta Road, Islamabad 44000, Pakistan

Received 13 December 2013; Accepted 26 January 2014; Published 9 March 2014

Academic Editor: Jinde Cao

Copyright © 2014 M. Pervaiz et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Abstract

The authors propose a new trackingcontrol design strategy for uncertain non-linear systemswhich are convertible to Semi-Strict FeedbackForm SSFF. The system in SSFF is first convertedinto new variables via existing adaptive backsteppingcontrol techniques. The control law is obtainedby combining adaptive backstepping procedure andhigher order integral sliding mode. The component ofcontrol law designed via backstepping is continuouswhich shows robustness against parametric uncertaintieswhere as the discontinuous control componentprovides robustness against unmodeled dynamics andexternal disturbances. Since, this strategy relies onan integral manifold of the adaptively developed variables,therefore, the reaching phase is eliminated inthis approach, which is an advantage in term of robustness. Furthermore, the parameters update lawcorrectly provides the estimation of parameters whichis again results in enhanced robustness of the strategy. The stability of proposed method is analysed theoreticallyand validated through a numerical example.





Autor: M. Pervaiz, Q. Khan, A. I. Bhatti, and S. A. Malik

Fuente: https://www.hindawi.com/



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