Backstepping

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In control theory, backstepping is a technique developed circa 1990 by Petar V. (Wikipedia.org)






Conferences related to Backstepping

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2020 22nd European Conference on Power Electronics and Applications (EPE'20 ECCE Europe)

Energy conversion and conditioning technologies, power electronics, adjustable speed drives and their applications, power electronics for smarter grid, energy efficiency,technologies for sustainable energy systems, converters and power supplies


2020 59th IEEE Conference on Decision and Control (CDC)

The CDC is the premier conference dedicated to the advancement of the theory and practice of systems and control. The CDC annually brings together an international community of researchers and practitioners in the field of automatic control to discuss new research results, perspectives on future developments, and innovative applications relevant to decision making, automatic control, and related areas.


2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)

The 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC 2020) will be held in Metro Toronto Convention Centre (MTCC), Toronto, Ontario, Canada. SMC 2020 is the flagship conference of the IEEE Systems, Man, and Cybernetics Society. It provides an international forum for researchers and practitioners to report most recent innovations and developments, summarize state-of-the-art, and exchange ideas and advances in all aspects of systems science and engineering, human machine systems, and cybernetics. Advances in these fields have increasing importance in the creation of intelligent environments involving technologies interacting with humans to provide an enriching experience and thereby improve quality of life. Papers related to the conference theme are solicited, including theories, methodologies, and emerging applications. Contributions to theory and practice, including but not limited to the following technical areas, are invited.


2020 IEEE Power & Energy Society General Meeting (PESGM)

The Annual IEEE PES General Meeting will bring together over 2900 attendees for technical sessions, administrative sessions, super sessions, poster sessions, student programs, awards ceremonies, committee meetings, tutorials and more


IECON 2020 - 46th Annual Conference of the IEEE Industrial Electronics Society

IECON is focusing on industrial and manufacturing theory and applications of electronics, controls, communications, instrumentation and computational intelligence.


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Periodicals related to Backstepping

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Automatic Control, IEEE Transactions on

The theory, design and application of Control Systems. It shall encompass components, and the integration of these components, as are necessary for the construction of such systems. The word `systems' as used herein shall be interpreted to include physical, biological, organizational and other entities and combinations thereof, which can be represented through a mathematical symbolism. The Field of Interest: shall ...


Biomedical Engineering, IEEE Transactions on

Broad coverage of concepts and methods of the physical and engineering sciences applied in biology and medicine, ranging from formalized mathematical theory through experimental science and technological development to practical clinical applications.


Control Systems Technology, IEEE Transactions on

Serves as a compendium for papers on the technological advances in control engineering and as an archival publication which will bridge the gap between theory and practice. Papers will highlight the latest knowledge, exploratory developments, and practical applications in all aspects of the technology needed to implement control systems from analysis and design through simulation and hardware.


Fuzzy Systems, IEEE Transactions on

Theory and application of fuzzy systems with emphasis on engineering systems and scientific applications. (6) (IEEE Guide for Authors) Representative applications areas include:fuzzy estimation, prediction and control; approximate reasoning; intelligent systems design; machine learning; image processing and machine vision;pattern recognition, fuzzy neurocomputing; electronic and photonic implementation; medical computing applications; robotics and motion control; constraint propagation and optimization; civil, chemical and ...


Industrial Electronics, IEEE Transactions on

Theory and applications of industrial electronics and control instrumentation science and engineering, including microprocessor control systems, high-power controls, process control, programmable controllers, numerical and program control systems, flow meters, and identification systems.


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Most published Xplore authors for Backstepping

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Xplore Articles related to Backstepping

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Semiglobal stabilization of a class of nonminimum-phase nonlinear output-feedback systems

2003 4th International Conference on Control and Automation Proceedings, 2003

This paper deals with stabilization of nonlinear systems with unstable zero- dynamics. The nonlinear systems are assumed able to be transformed to a global normal form, as well as to the form of which the observer error dynamics are linear. The control design starts from the state feedback, and the state variables associated with the zero-dynamics are stabilized first. The ...


A novel sliding mode control method for underactuated overhead cranes

2017 Chinese Automation Congress (CAC), 2017

For underactuated overhead cranes, this paper designs a novel sliding mode control method. Specifically, similar to the idea of backstepping method, the overall dynamic system is divided into two cascaded subsystems; thus the control algorithm consists of two steps. At first, the payload swing angle is kept in a bounded area by tracking a target trajectory. Second, the positioning error ...


Adaptive backstepping control of nonlinearly parameterized systems with time-varying disturbances

Proceedings of the 29th Chinese Control Conference, 2010

We consider global adaptive control of nonlinearly parameterized systems in parametric-strict-feedback form with uncertain time-varying disturbances in this paper. We do not require a priori bounds on the unknown parameters, which is as in the linear parameterization case. We also allow unknown parameters to be time-varying provided they are bounded. Our proposed adaptive backstepping controller is a switching type controller, ...


Adaptive backstepping controller design of an inverted pendulum

Proceedings of the Thirty-Seventh Southeastern Symposium on System Theory, 2005. SSST '05., 2005

An adaptive backstepping controller is designed to stabilize an inverted pendulum that is mounted on a moveable cart. The adaptive backstepping control synthesis technique results in the design of a controller for non-linear state differential equations with unknown parameters. The powerful adaptive backstepping technique provides a systematic iterative construction of a Lyapunov function and control law for this problem. The ...


Backstepping Based Control of PWM DC-DC Boost Power Converters

2007 IEEE International Symposium on Industrial Electronics, 2007

This paper focuses on the problem of controlling DC-to-DC switched power converter of Boost type. The system nonlinear feature is coped with by resorting to the backstepping control approach. Both adaptive and nonadaptive versions are designed and shown to yield quite interesting tracking and robustness performances. A comparison study shows that backstepping nonlinear controllers perform as well as passivity- based ...


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  • Semiglobal stabilization of a class of nonminimum-phase nonlinear output-feedback systems

    This paper deals with stabilization of nonlinear systems with unstable zero- dynamics. The nonlinear systems are assumed able to be transformed to a global normal form, as well as to the form of which the observer error dynamics are linear. The control design starts from the state feedback, and the state variables associated with the zero-dynamics are stabilized first. The state feedback control design is then carried out by backstepping. An observer with linear error dynamics is constructed with a design parameter which can be set at any positive value. The dynamic output feedback control is then designed by substituting the state in state feedback control with the observed one and imposing a saturation on the control input. The saturation level depends on the domain of the initial state. The proposed control design asymptotically stabilize the system for any prescribed domain of the initial state.

  • A novel sliding mode control method for underactuated overhead cranes

    For underactuated overhead cranes, this paper designs a novel sliding mode control method. Specifically, similar to the idea of backstepping method, the overall dynamic system is divided into two cascaded subsystems; thus the control algorithm consists of two steps. At first, the payload swing angle is kept in a bounded area by tracking a target trajectory. Second, the positioning error is indirectly driven to zero via the ingenious design of the trajectory. In this way, a novel sliding mode controller is designed by constructing a novel sliding surface. Lyapunov techniques are utilized to prove the asymptotically stability of the closed-loop system. Furthermore, hardware experiments are supplied to demonstrate superior performance of the proposed controller.

  • Adaptive backstepping control of nonlinearly parameterized systems with time-varying disturbances

    We consider global adaptive control of nonlinearly parameterized systems in parametric-strict-feedback form with uncertain time-varying disturbances in this paper. We do not require a priori bounds on the unknown parameters, which is as in the linear parameterization case. We also allow unknown parameters to be time-varying provided they are bounded. Our proposed adaptive backstepping controller is a switching type controller, in which the controller parameter is tuned in a switching manner via a switching logic. Global stability results of the closed-loop system have been proved.

  • Adaptive backstepping controller design of an inverted pendulum

    An adaptive backstepping controller is designed to stabilize an inverted pendulum that is mounted on a moveable cart. The adaptive backstepping control synthesis technique results in the design of a controller for non-linear state differential equations with unknown parameters. The powerful adaptive backstepping technique provides a systematic iterative construction of a Lyapunov function and control law for this problem. The adaptive back-stepping technique is used to generate a control law for this system with measured states. The controller design is evaluated for performance, complexity of implementation, and the impact of the system non-linear characteristics on the system stability. The advantages and disadvantages of the control strategy are summarized.

  • Backstepping Based Control of PWM DC-DC Boost Power Converters

    This paper focuses on the problem of controlling DC-to-DC switched power converter of Boost type. The system nonlinear feature is coped with by resorting to the backstepping control approach. Both adaptive and nonadaptive versions are designed and shown to yield quite interesting tracking and robustness performances. A comparison study shows that backstepping nonlinear controllers perform as well as passivity- based controllers. For both the choice of design parameters proves to be crucial to ensure robustness with respect to load resistance variations. From this viewpoint, adaptive backstepping controllers are more interesting as they prove to be less sensitive to design parameters.

  • Backstepping dynamic compensators design for the PMAC servodrive

    In the paper the robust tracking control design of high performance PMAC servodrive based on exact feedback linearisation and extended with integrator backstepping is presented. The feedback system is globally asymptotically stable in the sense of Lyapunov for a class of parameter perturbations and disturbances without affecting the relative degree and satisfying strict triangularity conditions (STC). The designed dynamic compensators of order n significantly extend the class of nonlinear uncertainties acting on the entire electromechanical system for which robust control can be systematically designed. The physical bounds of the control signal and states can also be considered.

  • Adaptive Output-Feedback Control for Parametric Output-Feedback Nonlinear Systems with Additive Output Derivative

    A global adaptive output-feedback control scheme is proposed for a class of nonlinear system in output-feedback form with additive output derivative. Unknown parameters are allowed to multiply not only the output nonlinearities but also affine functions of the derivative of the measured output with coefficients that are smooth nonlinear functions of the measured output. Through coordinate transformation and parameter redefinition, the system considered is transformed into the parametric output-feedback canonical form with unknown high-frequency gain sign. To tackle this situation, Nussbaum gain is incorporated in the adaptive backstepping technique. Tuning function method is employed to design the parameter adaptive law to avoid overparametrization. All the signals involved in the closed-loop system can be guaranteed globally uniformly bounded and the asymptotic tracking is achieved. The results of this paper extend the class of uncertain nonlinear systems for which global adaptive output-feedback control can be designed.

  • Disturbance observer-based backstepping control for permanent magnet synchronous motor

    In this paper, consider the effect of the load inertia fluctuation for surface-mounted permanent magnet synchronous motor (SPMSM), the problem of dynamic response of SPMSM is studied. A backstepping control algorithm based on disturbance observer (DO) is proposed. Firstly, according to the equation of motor speed, the minimum-order observer is established to observe the disturbance value of load inertia, Furthermore, using the estimated disturbance value to identify the load inertia. Then, the backstepping controller based on the identification results is designed to achieve the position tracking control of SPMSM. Finally, simulation results show the effectiveness of the proposed algorithm.

  • Observer-based adaptive torque-ripple minimization in switched reluctance machines using backstepping

    The paper addresses torque ripple reduction in current-fed switched reluctance motors (SRMs). Ripple-free torque production in SRMs requires an accurate model that is often too complex for practical implementation. The algorithm proposed here combines the use of a simplified model with adaptation. Explicitly, it includes dynamic estimation of low harmonics of the combined unknown load torque and the ripple in the produced torque (due to model simplification), and adds appropriate terms to the commanded current to cancel these harmonics. The control is based only on the position signal and the speed related information is obtained by an observer. Simulations suggest that our method is indeed effective for constant speed reference commands. Finally, experimental results are included to demonstrate that the algorithm performs well in reducing the torque ripple.

  • Backstepping design for controlling Lorenz chaos

    Backstepping design is proposed to control a Lorenz chaotic system. A major advantage of this method is that it has the flexibility to build the control law by avoiding cancellations of useful nonlinearities. Consequently, the goals of stabilization of chaotic motion and tracking of a reference signal are achieved with a reduced control effort. A comparison with the differential geometric method highlights the advantages of the proposed approach.



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