MODIFIED BACKSTEPPING ALGORITHM FOR CONTROL OVER NONLINEAR PLANTS WITH DELAY
Annotation
A solution to the robust control problem of nonlinear plants with a state delay is proposed. The plants under control are considered to possess unknown parameters; the plants are subject to external disturbances, and only output signal are measurable. The conditions for such a nonlinear system to be reducible to the normal form are formulated. The modified backstepping algorithm is used for the control algorithm synthesis. It is shown that implementation of the algorithm calls for the use of only one filter by the control signal and simplified control laws, and therefore calculations and implementation of the control system may be simplified. The obtained system is shown to possess a universal structure independent of the plant model – linear, nonlinear, with or without delay.
Keywords
Постоянный URL
Articles in current issue
- FINITE-TIME STABILITY OF SYSTEM OF SERIES-CONNECTED INTEGRATORS
- ADAPTIVE CONTROL ALGORITHM FOR LINEAR OBJECT WITH ARBITRARY RELATIVE DEGREE
- DIRECT ADAPTIVE METHOD FOR MULTISINUSOIDAL DISTURBANCE COMPENSATION
- SYNTHESIS OF CONTROL LAW PARAMETERS FOR NONLINEAR AUTOMATIC CONTROL SYSTEMS AT VARIOUS TYPES OF CHARACTERISTIC APPROXIMATION
- MODIFIED BACKSTEPPING ALGORITHM FOR CONTROL OVER NONLINEAR PLANTS WITH DELAY
- ROBUST SYSTEM OF DYNAMIC POSITIONING FOR ROBOTIZED MODEL OF SURFACE CRAFT
- MATHEMATICAL MODEL OF CONTROL SYSTEM FOR TEMPERATURE FIELD OF THE HEAT TREATMENT CHAMBER
- CONTROL OVER TEMPERATURE FIELD OF THE HEAT TREATMENT CHAMBER ON THE BASE OF QUALITATIVE MODE DISTRIBUTION
- DYNAMIC MODELS OF THE CONTROLLED BIOCHEMICAL PROCESSES OF WASTEWATER TREATMENT
- ALGORITHMS OF CONTROL OVER FOUR-WHEEL ROBOT MOVING OVER ROUGH TERRAIN
- STATE ESTIMATION OF THE MULTIPENDULUM SETUP UNDER COMMUNICATION CONSTRAINTS
- CAPACITY OF COMMUNICATION CHANNEL AS A GUARANTEE OF QUALITY OF DIGITAL REMOTE CONTROL OVER CONTINUOUS TECHNICAL PLANT
- APPLICATION OF GRAM METHOD FOR RANGING OF PARAMETRIC UNCERTAINTIES
- MODIFICATION OF STEEL LADLES LABELS IN THE PROBLEM OF AUTOMATION OF THE LADLES TURNOVER
- STUDY OF OPTIMIZATION METHODS FOR TECHNICAL EQUIPMENT OF AGRICULTURAL ENTERPRISES