Title :
Control of nonlinear plant based on modified robust backstepping algorithm
Author :
Furtat, Igor B. ; Tupichin, Evgeny A.
Author_Institution :
Inst. for Problems of Mech. Eng., St. Petersburg, Russia
Abstract :
The paper describes the robust algorithm for nonlinear SISO plants under parametric uncertainties and external disturbances. Unlike other known results it is shown that in the control system only one filter of dimension n is used, where n is a dynamical order of a plant. Calculation derivatives of stabilizing control signals are realized by first order observers. It allows simplifying the analytical calculation of the control system. Algorithm provides compensation of parametric uncertainties and external disturbances with required accuracy. Simulations are illustrated an efficiency of proposed scheme for an unstable nonlinear plant and control of a magnetic levitation system.
Keywords :
compensation; control nonlinearities; nonlinear control systems; nonlinear dynamical systems; observers; robust control; uncertain systems; analytical analysis; dimension filter; dynamical plant order; external disturbance compensation; first order observers; magnetic levitation system control; modified robust backstepping algorithm; nonlinear SISO plant control system; parametric uncertainty compensation; stabilizing control signal calculation derivatives; unstable nonlinear plant; Backstepping; Control systems; Equations; Magnetic levitation; Observers; Robustness; Uncertainty;
Conference_Titel :
Control Applications (CCA), 2014 IEEE Conference on
Conference_Location :
Juan Les Antibes
DOI :
10.1109/CCA.2014.6981457
