Asymptotic tracking position control for nonlinear systems using backstepping technique

Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis.

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Main Authors:	Sahazati, Md Rozali, Muhammad Nizam, Kamarudin, Mohd Fua'ad, Rahmat, Dr., Abdul Rashid, Husain
Other Authors:	sahazati@utem.edu.my
Format:	Working Paper
Language:	English
Published:	Malaysian Technical Universities Network (MTUN) 2013
Subjects:	Backstepping Electrohydraulic actuator Lyapunov design
Online Access:	http://dspace.unimap.edu.my/xmlui/handle/123456789/26600
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Institution:	Universiti Malaysia Perlis
Language:	English

id	my.unimap-26600
record_format	dspace
spelling	my.unimap-266002013-07-12T06:26:10Z Asymptotic tracking position control for nonlinear systems using backstepping technique Sahazati, Md Rozali Muhammad Nizam, Kamarudin Mohd Fua'ad, Rahmat, Dr. Abdul Rashid, Husain sahazati@utem.edu.my rashid@fke.utm.my Backstepping Electrohydraulic actuator Lyapunov design Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis. Backstepping is a technique developed for designing stabilizing controls for a special class of nonlinear dynamical systems. It is built from subsystems that radiate out from an irreducible system which can be stabilized using some other method. This method is based directly on the mathematical model of the examined system. It is developed by introducing new variables into it in a form depending on the state variables, controlling parameters and stabilizing functions. The stabilizing functions compensate for nonlinearities exists in the system which affect the stability of its operation. Backstepping can be used for tracking and regulation problem. With the aid of Lyapunov stability design, this paper presents control approach for asymptotical tracking. Electrohydraulic actuator system is chosen as numerical example for the designed controller. The performance of backstepping controller is then compared with unity feedback controller applied to the same system. The results show that backstepping controller produced better output tracking then unity feedback controller. 2013-07-12T06:26:10Z 2013-07-12T06:26:10Z 2012-11-20 Working Paper p. 41-45 http://hdl.handle.net/123456789/26600 en Proceedings of the Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 Malaysian Technical Universities Network (MTUN)
institution	Universiti Malaysia Perlis
building	UniMAP Library
collection	Institutional Repository
continent	Asia
country	Malaysia
content_provider	Universiti Malaysia Perlis
content_source	UniMAP Library Digital Repository
url_provider	http://dspace.unimap.edu.my/
language	English
topic	Backstepping Electrohydraulic actuator Lyapunov design
spellingShingle	Backstepping Electrohydraulic actuator Lyapunov design Sahazati, Md Rozali Muhammad Nizam, Kamarudin Mohd Fua'ad, Rahmat, Dr. Abdul Rashid, Husain Asymptotic tracking position control for nonlinear systems using backstepping technique
description	Malaysian Technical Universities Conference on Engineering and Technology (MUCET) 2012 organised by technical universities under the Malaysian Technical Universities Network (MTUN), 20th - 21st November 2012 at Hotel Seri Malaysia, Kangar, Perlis.
author2	sahazati@utem.edu.my
author_facet	sahazati@utem.edu.my Sahazati, Md Rozali Muhammad Nizam, Kamarudin Mohd Fua'ad, Rahmat, Dr. Abdul Rashid, Husain
format	Working Paper
author	Sahazati, Md Rozali Muhammad Nizam, Kamarudin Mohd Fua'ad, Rahmat, Dr. Abdul Rashid, Husain
author_sort	Sahazati, Md Rozali
title	Asymptotic tracking position control for nonlinear systems using backstepping technique
title_short	Asymptotic tracking position control for nonlinear systems using backstepping technique
title_full	Asymptotic tracking position control for nonlinear systems using backstepping technique
title_fullStr	Asymptotic tracking position control for nonlinear systems using backstepping technique
title_full_unstemmed	Asymptotic tracking position control for nonlinear systems using backstepping technique
title_sort	asymptotic tracking position control for nonlinear systems using backstepping technique
publisher	Malaysian Technical Universities Network (MTUN)
publishDate	2013
url	http://dspace.unimap.edu.my/xmlui/handle/123456789/26600
_version_	1643794997459288064

Asymptotic tracking position control for nonlinear systems using backstepping technique

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