Controller Design for Position Tracking of Nonlinear System
Usually, the nonlinearities existing in the system is eliminated by using linearization method. However, backstepping method allows additional nonlinearities to be created and introduced to the control process so that the undesirable nonlinearities can be cancelled out from the system. In this...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | en |
| Published: |
IEEE
2013
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/12360/1/Controller_Design_for_Position_Tracking_of_Nonlinear-ausie.pdf http://eprints.utem.edu.my/id/eprint/12360/ |
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| Summary: | Usually, the nonlinearities existing in the system is
eliminated by using linearization method. However, backstepping
method allows additional nonlinearities to be created and
introduced to the control process so that the undesirable
nonlinearities can be cancelled out from the system. In this
work,position tracking of electrohydraulic actuator system is
taken as a numerical example since it is highly nonlinear.
Backstepping controller is designed for the system without
disturbance and with additional disturbance is given to its
actuator. Control parameter of the designed controller for both
condition is then optimized by using Particle Swarm
Optimization method. The performance of the designed
controller to the system is observed through its tracking error. |
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