hrcak mascot   Srce   HID

Izvorni znanstveni članak
https://doi.org/10.1080/00051144.2018.1563357

An improved adaptive fuzzy backstepping control for nonlinear mechanical systems with mismatched uncertainties

Wan Min ; School of Mechatronic Engineering, Southwest Petroleum University, Chengdu, People’s Republic of China
Qingyou Liu ; School of Mechatronic Engineering, Southwest Petroleum University, Chengdu, People’s Republic of China

Puni tekst: engleski, pdf (2 MB) str. 1-10 preuzimanja: 132* citiraj
APA 6th Edition
Min, W. i Liu, Q. (2019). An improved adaptive fuzzy backstepping control for nonlinear mechanical systems with mismatched uncertainties. Automatika, 60 (1), 1-10. https://doi.org/10.1080/00051144.2018.1563357
MLA 8th Edition
Min, Wan i Qingyou Liu. "An improved adaptive fuzzy backstepping control for nonlinear mechanical systems with mismatched uncertainties." Automatika, vol. 60, br. 1, 2019, str. 1-10. https://doi.org/10.1080/00051144.2018.1563357. Citirano 25.10.2021.
Chicago 17th Edition
Min, Wan i Qingyou Liu. "An improved adaptive fuzzy backstepping control for nonlinear mechanical systems with mismatched uncertainties." Automatika 60, br. 1 (2019): 1-10. https://doi.org/10.1080/00051144.2018.1563357
Harvard
Min, W., i Liu, Q. (2019). 'An improved adaptive fuzzy backstepping control for nonlinear mechanical systems with mismatched uncertainties', Automatika, 60(1), str. 1-10. https://doi.org/10.1080/00051144.2018.1563357
Vancouver
Min W, Liu Q. An improved adaptive fuzzy backstepping control for nonlinear mechanical systems with mismatched uncertainties. Automatika [Internet]. 2019 [pristupljeno 25.10.2021.];60(1):1-10. https://doi.org/10.1080/00051144.2018.1563357
IEEE
W. Min i Q. Liu, "An improved adaptive fuzzy backstepping control for nonlinear mechanical systems with mismatched uncertainties", Automatika, vol.60, br. 1, str. 1-10, 2019. [Online]. https://doi.org/10.1080/00051144.2018.1563357

Sažetak
When the nonlinear mechanical system has mismatched uncertainties, it is difficult to design control algorithm to achieve high precision trajectory tracking control. Traditional backstepping control is an effective control method for uncertain, mismatched nonlinear systems, but there is inherent problem of “complexity due to the explosion of terms”. In this paper, based on the backstepping method, only one fuzzy system is used to approximate the unknown nonlinear
functions, the unknown control gain and the differential of virtual control law of each subsystem. In order to reduce the influence offuzzy approximation error and external interference, the above control scheme is further improved by designing special adjustable control parameters and first order low pass filter. The improved control scheme not only improves the control precision of the system obviously, but also solves the problem of “explosion of terms”, and greatly reduces
the initial control input, and provides the conditions for the practical application. The simulation results show the effectiveness of the proposed methods.

Ključne riječi
Mismatched uncertainty; mechanical system; nonlinear; fuzzy system; backstepping

Hrčak ID: 239749

URI
https://hrcak.srce.hr/239749

Posjeta: 227 *