Flight control design for small-scale helicopter using disturbance observer based backstepping

Flight control design for small-scale helicopter using disturbance observer based backsteppin

Adaptive fuzzy sliding mode command-filtered backstepping control for islanded PV microgrid with energy storage system

This study focuses on the control of islanded photovoltaic (PV) microgrid and design of a controller for PV system. Because the system operates in islanded mode, the reference voltage and frequency of AC bus are provided by the energy storage system. We mainly designed the controller for PV system in this study, and the control objective is to control the DC bus voltage and output current of PV system. First, a mathematical model of the PV system was set up. In the design of PV system controller, command-filtered backstepping control method was used to construct the virtual controller, and the final controller was designed by using sliding mode control. Considering the uncertainty of circuit parameters in the mathematical model and the unmodeled part of PV system, we have integrated adaptive control in the controller to achieve the on-line identification of component parameters of PV system. Moreover, fuzzy control was used to approximate the unmodeled part of the system. In addition, the projection operator guarantees the boundedness of adaptive estimation. Finally, the control effect of designed controller was verified by MATLAB/Simulink software. By comparing with the control results of proportion-integral (PI) and other controllers, the advanced design of controller was verified

Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle

Through this work a deep understanding of the backstepping control technique is sought when applied over non-affine systems. It is shown that in this case appears the necessity to bound the value of internal states and that a modification over standard backstepping is mandatory. The principal goal of this study is to evaluate the effects of finite frequency filters, and the effects of saturation affecting intermediate states and control actions, in the tracking performance when using the command filtered backstepping. Some relations that bind the controller gains to maintain performance appear naturally. Finally simulations over a 2D steering robot model are given to illustrate the found results.Peer ReviewedPostprint (author’s final draft

Adaptive fuzzy sliding mode command-filtered backstepping control for islanded PV microgrid with energy storage system

This study focuses on the control of islanded photovoltaic (PV) microgrid and design of a controller for PV system. Because the system operates in islanded mode, the reference voltage and frequency of AC bus are provided by the energy storage system. We mainly designed the controller for PV system in this study, and the control objective is to control the DC bus voltage and output current of PV system. First, a mathematical model of the PV system was set up. In the design of PV system controller, command-filtered backstepping control method was used to construct the virtual controller, and the final controller was designed by using sliding mode control. Considering the uncertainty of circuit parameters in the mathematical model and the unmodeled part of PV system, we have integrated adaptive control in the controller to achieve the on-line identification of component parameters of PV system. Moreover, fuzzy control was used to approximate the unmodeled part of the system. In addition, the projection operator guarantees the boundedness of adaptive estimation. Finally, the control effect of designed controller was verified by MATLAB/Simulink software. By comparing with the control results of proportion-integral (PI) and other controllers, the advanced design of controller was verified

Adaptive Command-Filtered Backstepping Control for Linear Induction Motor via Projection Algorithm

A theoretical framework of the position control for linear induction motors (LIM) has been proposed. First, indirect field-oriented control of LIM is described. Then, the backstepping approach is used to ensure the convergence and robustness of the proposed control scheme against the external time-varying disturbances via Lyapunov stability theory. At the same time, in order to solve the differential expansion and the control saturation problems in the traditional backstepping, command filter is designed in the control and compensating signals are presented to eliminate the influence of the errors caused by command filters. Next, unknown total mass of the mover, viscous friction, and load disturbances are estimated by the projection-based adaptive law which bounds the estimated function and simultaneously guarantees the robustness of the proposed controller against the parameter uncertainties. Finally, simulation results are given to illustrate the validity and potential of the designed control scheme

3-D path-following control for a model-scaled autonomous helicopter

A 3-D path-following controller is proposed in this brief for a 6-degrees-of-freedom model-scaled autonomous helicopter. The reference path and path-following errors are newly defined using implicit expressions. On the basis of geometric analysis, a new speed error is designed for singularity avoidance. The proposed control algorithm is designed using command filtered backstepping, such that complicated solutions for derivatives of virtual controls are circumvented. It is proved that, with the proposed controller, path-following errors are locally ultimately bounded. Theoretical results are demonstrated by the numerical simulation.http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=87hb201