Design of nonlinear state feedback control law for underactuated TORA system: A block backstepping approach

Author

Rudra, Shubhobrata ; Barai, Ranjit kumar ; Maitra, Madhubanti ; Mandal, Dharmadas ; Dam, Shimul ; Ghosh, Somsubhra ; Bhattacharyya, Prarthna ; Dutta, Arka

Author_Institution

Electrical Engineering Department, Jadavpur University, Kolkata-700032, India

fYear

2013

Firstpage

93

Lastpage

98

Abstract

This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for the well-known nonlinear benchmark TORA system. The ideas behind the method are as follows. At first, state model of the TORA system has been converted into block-strict feedback form. Then the control Lyapunov function has been designed for each cascaded dynamic block to derive the expression of the control input for the overall nonlinear system. The overall asymptotic stability of the TORA system has been analyzed using Lyapunov Stability Criteria. Finally, the effectiveness of the proposed control algorithm has been verified in the simulation environment.

Keywords

Rotors; Block Backstepping Control; Lyapunov Stability Criteria; TORA System; Underactuated System;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems and Control (ISCO), 2013 7th International Conference on

Conference_Location

Coimbatore, Tamil Nadu, India

Print_ISBN

978-1-4673-4359-6

Type

conf

DOI

10.1109/ISCO.2013.6481129

Filename

6481129