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Author

Kang, Sang Hoon
Robotics and Rehab. Engineering Lab (R2EL)
Research Interests
  • Rehabilitation Robotics & Mechatronic Tools, Biomechanics for Rehabilitation, Human Limb Impedance Estimation, Assistive and Healthcare robotics, Robust Motion/Force Control

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Robust backstepping control using time delay estimation

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Title
Robust backstepping control using time delay estimation
Author
Kim, Seong-TaeChang, Pyung HunKang, Sang Hoon
Keywords
Backstepping Control . Time Delay Estimation . Robust Control . Strict feedback System . Lyapunov Stability . Uncertainty
Issue Date
200412
Publisher
Korean Society of Mechanical Engineers
Citation
TRANSACTIONS OF THE KOREAN SOCIETY OF MECHANICAL ENGINEERS, A, v.28, no.12, pp.1833 - 1844
Abstract
A controller is proposed for the robust backstepping control of a class of nonlinear multiple-input multiple-output (MIMO) systems which can be converted to a strict feedback form. The proposed robust backstepping control scheme follows a systematic procedure for the design of control laws and uses time delay estimation (TDE) to estimate the uncertainties such as parameter variations, unknown disturbances, and unmodeled dynamics, etc. The proposed controller can be also applied to nonlinear MIMO systems with unmatched uncertainties. Stability analysis of the closed-loop system which contains the plant and the proposed controller is also studied and hereby a sufficient stability condition for the closed-loop system is proposed. The simulation results show that the control scheme works well with uncertainties and the proposed stability condition is valid. The controller is experimentally verified on a single-link flexible arm to show the effectiveness of the proposed scheme in the complicated systems with uncertainties.
URI
http://scholarworks.unist.ac.kr/handle/201301/13415
DOI
http://dx.doi.org/10.3795/KSME-A.2004.28.12.1833
ISSN
1226-4873
Appears in Collections:
DHE_Journal Papers

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