Modular variable structure adaptive backstepping controller: Design and stability analysis

Modular variable structure adaptive backstepping controller: Design and stability analysis
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DOI：
10.1016/j.jfranklin.2013.09.026
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发表时间：
2014-04
期刊：
J. Frankl. Inst.
影响因子：
--
通讯作者：
K. Queiroz;Samaherni M. Dias;A. Araújo
K. Queiroz;Samaherni M. Dias;A. Araújo
中科院分区：
其他
文献类型：
--
作者：
K. Queiroz;Samaherni M. Dias;A. Araújo

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本文提出了一种仅利用输入/输出测量值的模块化变结构自适应反步控制器（MVS-ABC），用于任意相对度的对象。为了通过模块化设计改善自适应反推方法的瞬态响应，提出了切换律来代替传统的积分自适应律。相对于外部干扰的鲁棒性也表现出来。此外，简化算法，其中继电器的数量显着减少（只有一个是必要的）。对一个相对度为3的不稳定系统进行了仿真。
This paper presents the design and stability analysis of a Modular Variable Structure Adaptive Backstepping Controller (MVS-ABC) for plants with arbitrary relative degree, using only input/output measurements. In order to improve the transient response of adaptive backstepping approach via modular design, switching laws are proposed instead of traditional integral adaptive laws. Robustness properties with respect to external disturbances are also demonstrated. Furthermore, simplified algorithms are presented, where the number of relays was significantly reduced (only one is necessary). Simulation results for an unstable system with relative degree three are shown.