Journal articles: 'Integral backstepping control'

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Jinlong, Zhang, Wang Jianhong, Wen Ruchun, et al. "Control Design of the Quadrotor Aircraft based on the Integral Adaptive Improved Integral Backstepping Sliding Mode Scheme." Engineering, Technology & Applied Science Research 14, no. 5 (2024): 17106–17. http://dx.doi.org/10.48084/etasr.8361.

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It is known that disturbances reduce tracking accuracy and control effect. To address these issues, in this paper, the Integral Adaptive Improved Integral Backstepping Sliding Mode Control (IAIIBSMC) method for position control of the quadrotor with uncertain disturbances, is proposed. Integrals are introduced into the adaptive reaching law and are extended to the control of virtual variables based on integral backstepping control, enhancing the system's anti-disturbance performance. The final combination with Sliding Mode Control (SMC) further improves system performance. Compared to the traditional Adaptive Integral Backstepping Control (AIBC), the proposed IAIIBSMC demonstrates superior tracking control, faster response, stronger anti-interference ability, and smaller overshoot. Experimental comparisons of different control methods and disturbances during fixed-point hovering and trajectory tracking show that the IAIIBSMC achieves better control. Specifically, the maximum position tracking error using IAIIBSMC is approximately 0.191 m, 22.04% lower than that of the AIBC. The steady-state error of IAIIBSMC is about 3 mm, which is negligible within the allowable range. These results validate the effectiveness and superiority of the proposed controller in achieving precise control under various disturbance conditions.

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Abdallah, Abden, Bouchetta A., Boughazi O., Baghdadi A., and K. Bousserhane I. "Double star induction machine using nonlinear integral backstepping control." International Journal of Power Electronics and Drive System (IJPEDS) 10, no. 1 (2019): 27–40. https://doi.org/10.11591/ijpeds.v10.i1.pp27-40.

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This paper presents a nonlinear Integral backstepping control approach based on field-oriented control technique, applied to a Double Star Induction Machine ‘DSIM’ feed by two power voltage sources. We present this technique of integral backstepping by using reduced and complete mathematical model. The objective is to improve the robustness of machine under internal parameter variation with nonlinear Integral backstepping control. The robustness test results obtained by simulation prove the effectiveness of control with using complete model of DSIM.

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Benheniche, Abdelhak, and Farid Berrezzek. "Integral Backstepping Control of Induction Machine." European Journal of Electrical Engineering 23, no. 4 (2021): 345–51. http://dx.doi.org/10.18280/ejee.230408.

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The goal of this work is to propose a latest design of a rotor speed and rotor flux modulus control approach for an induction machine using a Backstepping corrector with an integral action. The advantage of the Backstepping Strategy is the ability to manage a nonlinear system. The Lyapunov theory has been used to ensure the system stability. To improve the controller robustness proprieties the integral action is used, despite the system uncertainties and the existence of external disturbances. The unavailable rotor flux is recovered by estimation of the rotor flux of the machine based on the integration of the stator voltage expressions. The simulation results illustrate the effectiveness of the proposed control scheme under load disturbances, rotor resistance variation and low and high speed.

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Abdallah, Abden, A. Bouchetta, O. Boughazi, A. Baghdadi, and L. K. Bousserhane. "Double star induction machine using nonlinear integral backstepping control." International Journal of Power Electronics and Drive Systems (IJPEDS) 10, no. 1 (2019): 27. http://dx.doi.org/10.11591/ijpeds.v10.i1.pp27-40.

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<span lang="EN-GB">This paper presents a nonlinear Integral backstepping control approach based on field oriented control technique, applied to a Double Star Induction Machine ‘DSIM’ feed by two power voltage sources. We present this technique of integral backstepping by using reduced and complete Model of DSIM. The objective is to improve the robustness of machine under internal parameter variation with nonlinear Integral backstepping control. The robustness test results obtained by simulation prove the effectiveness of control with using complete model of DSIM.</span>

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Yang, Qian, Nan Nan Zhao, and Ming Hui Zhang. "Study on PMSM Integral Backstepping Controller Based on RBF Neural Network." Applied Mechanics and Materials 416-417 (September 2013): 599–605. http://dx.doi.org/10.4028/www.scientific.net/amm.416-417.599.

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In order to eliminate steady-state speed error of PMSM backstepping control system, an integral backstepping speed control algorithm is designed in this paper. By adding speed error integral factor in the speed Lyapunov function, the speed error can finally converge to zero when PMSM operates in steady-state. On this basis, an integral backstepping speed control algorithm based on RBF neural network compensation is proposed for PMSM backstepping control system used for high-altitude electric propulsion system which is vulnerable to load torque variables. The integral backstepping speed controller based on PMSM reference model can ensure global asymptotic convergence of the whole control system. In order to achieve fast robust adaptive control, the RBF neural network is adapted to online compensate dq axis current error produced by the reference speed and load torque changes. Simulink simulation results verify the feasibility of the given algorithm.

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Kamel, Bouzgou, Ibari Benaoumeur, Benchikh Laredj, and Ahmed-Foitih Zoubir. "Integral Backstepping Approach for Mobile Robot Control." TELKOMNIKA (Telecommunication Computing Electronics and Control) 15, no. 3 (2017): 1173. http://dx.doi.org/10.12928/telkomnika.v15i3.5667.

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Bouzgou, kamel, benaoumeur Ibari, laredj Benchikh, and Zoubir Ahmed-foitih. "Integral Backstepping Approach for Mobile Robot Control." TELKOMNIKA Telecommunication, Computing, Electronics and Control 15, no. 3 (2017): 1173–80. https://doi.org/10.12928/TELKOMNIKA.v15i3.5667.

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This paper presents the trajectory tracking problem of a unicycle-type mobile robots. A robust output tracking controller for nonlinear systems in the presence of disturbances is proposed, the approach is based on the combination of integral action and Backstepping technique to compensate for the dynamic disturbances. For desired trajectory, the values of the linear and angular velocities of the robot are assured by the kinematic controller. The control law guarantees stability of the robot by using the lyapunov theorem. The simulation and experimental results are presented to verify the designed trajectory tracking control.

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Ud Din, Waqar, Kamran Zeb, Muhammad Ishfaq, Saif Ul Islam, Imran Khan, and Hee Je Kim. "Control of Internal Dynamics of Grid-Connected Modular Multilevel Converter Using an Integral Backstepping Controller." Electronics 8, no. 4 (2019): 456. http://dx.doi.org/10.3390/electronics8040456.

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The modular multilevel converter (MMC) has significant applications in power systems due to its promising features, such as modularity, reliability, scalability, and low harmonic distortion. One of the challenges in the operation of MMC is to regulate the circulating current in its phase leg and sub module (SM) capacitor voltage. This paper presents the control of internal dynamics, i.e., circulating current and submodule capacitor voltage, of the MMC using an integral backstepping algorithm. The design of the controller is based on Lyapunov stability function. The backstepping control ensures the convergence of the error signal to zero. Additionally, the integral action in the control law increases the robustness and reliability of the system against the external disturbances and model uncertainties. Moreover, the integral term in the controller eliminates the residual steady-state error. The Lyapunov function-based design of the backstepping controller guarantees the convergence of circulating current as well as submodule capacitor voltage for any possible initial condition. Moreover, the performance of the proposed integral backstepping controller is compared with the proportional resonant (PR) controller. The proposed backstepping control scheme for three-phase MMC has been implemented in MATLAB/Simulink.

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Lin, Chih Hong, Ming Kuan Lin, and Chih Peng Lin. "Integral Backstepping Control for a PMSLM Using Adaptive RNNUO." Advanced Materials Research 468-471 (February 2012): 1946–51. http://dx.doi.org/10.4028/www.scientific.net/amr.468-471.1946.

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Due to uncertainties exist in the applications of the a permanent magnet synchronous linear motor (PMSLM) servo drive which seriously influence the control performance, thus, an integral backstepping control system using adaptive recurrent neural network uncertainty observer (RNNUO) is proposed to increase the robustness of the PMSLM drive. First, the field-oriented mechanism is applied to formulate the dynamic equation of the PMSLM servo drive. Then, an integral backstepping approach is proposed to control the motion of PMSLM drive system. With proposed integral backstepping control system, the mover position of the PMSLM drive possesses the advantages of good transient control performance and robustness to uncertainties for the tracking of periodic reference trajectories. Moreover, to further increase the robustness of the PMSLM drive, an adaptive RNN uncertainty observer is proposed to estimate the required lumped uncertainty. The effectiveness of the proposed control scheme is verified by experimental results.

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Li, Shenghui, and Zhenxing Sun. "A generalized proportional integral observer–based robust tracking design approach for quadrotor unmanned aerial vehicle." International Journal of Advanced Robotic Systems 19, no. 4 (2022): 172988062211170. http://dx.doi.org/10.1177/17298806221117052.

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This article mainly studies the trajectory tracking control for quadrotor unmanned aerial vehicle with unknown time-varying disturbances including parametric uncertainties, model errors, and external disturbances such as wind effects. Conventional backstepping control schemes usually cannot guarantee the performance when it faces the time-varying disturbances. Improved schemes, such as integral backstepping, can only compensate the disturbances in a relatively slow way. By introducing disturbance observer technology into the design of controller, a composite generalized proportional integral observer–based robust control design method is developed. First, by utilizing the generalized proportional integral observer, the lumped time-varying disturbances of unmanned aerial vehicle are estimated. Secondly, combining the value of disturbance estimation and feedforward controller by using backstepping control technology together, a composite controller has been developed, which can be called as backstepping control + generalized proportional integral observer. The proposed control method has a better capability of disturbance rejection and is easy to implement. Simulation and experimental results illustrate the good robustness and tracking performance of the proposed scheme.

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Bouchaib, Ali, Rachid Taleb, Ahmed Massoum, and Saad Mekhilef. "Geometric control of quadrotor UAVs using integral backstepping." Indonesian Journal of Electrical Engineering and Computer Science 22, no. 1 (2021): 53–61. https://doi.org/10.11591/ijeecs.v22.i1.pp53-61.

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The traditional quadcopter control systems should deal with two common problems. Namely, the singularities related to the inverse kinematics and the ambiguity linked to the quaternion representation of the dynamic model. Moreover, the stability problem due to the system nonlinearity and high degree of coupling. This paper provides a solution to the two issues by employing a geometrical integral-backstepping control system. The integral terms were added to improve system ability to track desired trajectories. The high-level control laws are considered as a virtual control and transmitted to the low-level to track the high-level commands. The proposed control system along with the quadcopter dynamic model were expressed in the special Euclidean group SE(3). Finally, the control system robustness against mismatching parameters was studied while tracking various paths.

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ELHADJ, SABOUNI, BOUCHIBA BOUSMAHA, ABDELOUAHED TOUHAMI, and BOUSSERHANE ISMAIL KHALIL. "EXPERIMENTAL DESIGN OF AN INTEGRAL BACKSTEPPING CONTROL FOR A SINGLE-PHASE SHUNT ACTIVE POWER FILTER." REVUE ROUMAINE DES SCIENCES TECHNIQUES — SÉRIE ÉLECTROTECHNIQUE ET ÉNERGÉTIQUE 70, no. 1 (2025): 63–68. https://doi.org/10.59277/rrst-ee.2025.1.11.

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In this work, a cascaded two-loops nonlinear integral-backstepping based control has been derived for single-phase shunt active power filter to improve harmonic mitigation, reactive power compensation and dc-link voltage regulation. Two loops non-linear controllers based on an Integral-backstepping strategy is developed which is robust and stable in a wide range of output current and DC-link voltage changes. First, the model of the single-phase shunt active power filter is exposed. Then, an integral backstepping control strategy applied to current loop is developed to provide global control robustness. Moreover, the compensation control system is then supported by an another integral backstepping controller for DC-link voltage control in order to enhance DC-link loss compensation capability and to generate the required active power which should be taken by the SAPF from the power supply. Designed active power filter control has been implemented using Dspace 1103. The practical response of the developed controller is studied in some test; it is shown that the proposed controller is able to eliminate harmonic components of the local load current with a fast dynamic response.

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Jiao, Shipeng, Jun Wang, Yuchen Hua, Ye Zhuang, and Xuetian Yu. "Trajectory-Tracking Control for Quadrotors Using an Adaptive Integral Terminal Sliding Mode under External Disturbances." Drones 8, no. 2 (2024): 67. http://dx.doi.org/10.3390/drones8020067.

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In the face of external disturbances affecting the trajectory tracking of quadrotors, a control scheme targeted at accurate position and attitude trajectory tracking was designed. Initially, a quadrotor dynamic model, essential for control design, was derived. Adaptive integral backstepping control (AIBS) was then employed within the position loop, enabling the upper boundaries of disturbances to be estimated through adaptive estimation. Subsequently, a new adaptive backstepping fast nonsingular integral terminal sliding mode control (ABFNITSM) was proposed to enable adherence to the desired Euler angles. Rapid convergence and accurate tracking were facilitated by the incorporation of the nonsingular terminal sliding mode and an integral component. The dead zone technique was deployed to curtail estimation errors, while a saturation function was used to eradicate the phenomenon of chattering. Finally, to validate the proposed control scheme, simulation experiments were conducted in the Simulink environment, and the results were contrasted with those obtained from traditional integral terminal sliding mode control (ITSM) and integral backstepping control (IBS), providing evidence of the effectiveness of the proposed method.

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Ali, Kamran, Laiq Khan, Qudrat Khan, et al. "Robust Integral Backstepping Based Nonlinear MPPT Control for a PV System." Energies 12, no. 16 (2019): 3180. http://dx.doi.org/10.3390/en12163180.

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A photovoltaic system generates energy that depends on the environmental conditions such as temperature, irradiance and the variations in the load connected to it. To adapt to the consistently increasing interest of energy, the photovoltaic (PV) system must operate at maximum power point (MPP), however, it has the issue of low efficiency because of the varying climatic conditions. To increase its efficiency, a maximum power point technique is required to extract maximum power from the PV system. In this paper, a nonlinear fast and efficient maximum power point tracking (MPPT) technique is developed based on the robust integral backstepping (RIB) approach to harvest maximum power from a PV array using non-inverting DC-DC buck-boost converter. The study uses a NeuroFuzzy network to generate the reference voltage for MPPT. Asymptotic stability of the whole system is verified using Lyapunov stability criteria. The MATLAB/Simulink platform is used to test the proposed controller performance under varying meteorological conditions. The simulation results validate that the proposed controller effectively improves the MPPT in terms of tracking speed and efficiency. For further validation of the proposed controller performance, a comparative study is presented with backstepping controller, integral backstepping, robust backstepping and conventional MPPT algorithms (PID and P&O) under rapidly varying environmental conditions.

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Bouchaib, Ali, Rachid Taleb, Ahmed Massoum, and Saad Mekhilef. "Geometric control of quadrotor UAVs using integral backstepping." Indonesian Journal of Electrical Engineering and Computer Science 22, no. 1 (2021): 53. http://dx.doi.org/10.11591/ijeecs.v22.i1.pp53-61.

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The traditional quadcopter control systems should deal with two common problems. Namely, the singularities related to the inverse kinematics and the ambiguity linked to the quaternion representation of the dynamic model. Moreover, the stability problem due to the system nonlinearity and high degree of coupling. This paper provides a solution to the two issues by employing a geometrical integral-backstepping control system. The integral terms were added to improve system ability to track desired trajectories. The high-level control laws are considered as a virtual control and transmitted to the low-level to track the high-level commands. The proposed control system along with the quadcopter dynamic model were expressed in the special Euclidean group SE(3). Finally, the control system robustness against mismatching parameters was studied while tracking various paths.

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Poultney, Alexander, Peiyan Gong, and Hashem Ashrafiuon. "Integral backstepping control for trajectory and yaw motion tracking of quadrotors." Robotica 37, no. 2 (2018): 300–320. http://dx.doi.org/10.1017/s0263574718001029.

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SUMMARYThis work presents a novel trajectory tracking, hovering, and yaw motion control for quadrotors subject to unknown modeling uncertainties and disturbances. Nonlinear equations of motion are used to model the quadrotor's motion without any simplifying assumptions. An integral backstepping control is developed by defining the tracking errors, their integral, and their first through third time derivatives as the system states. The resulting surge force and roll and pitch moments are shown to asymptotically stabilize the error states subject to bounded disturbances and modeling uncertainties. Similarly, a yaw moment is derived through integral backstepping that simultaneously stabilizes yaw motion errors. The controller performance in simultaneous trajectory and yaw motion tracking is verified through both simulations and experiments.

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Li, Jian, Yong Lu, Fengshuo He, and Lixian Miao. "High-Frequency Position Servo Control of Hydraulic Actuator with Valve Dynamic Compensation." Actuators 11, no. 3 (2022): 96. http://dx.doi.org/10.3390/act11030096.

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Hydraulic actuators play an important role in various industries. In the last decades, to improve system performance, some advanced control methods have been developed. Backstepping control, which can deal with the system nonlinearities, is widely used in hydraulic system motion control. This paper focuses on the high-frequency position servo control of hydraulic systems with proportional valves. In backstepping controllers, valve dynamics are usually ignored due to difficulty of controller implementation. In this paper, valve dynamics of the proportional valve were decoupled into phase delay and amplitude delay. The valve dynamics are compensated without increasing the system order. The phase delay is compensated by desired engine valve lifts transformation. For amplitude delay, the paper proposes a compensation strategy based on the integral flow error. By introducing the feedback of the integral flow error to the backstepping controller, the system has faster dynamic responses. Besides, the controller also synthesized proportional valve dead-zone and system uncertainties. The comparative experiment results show that the controller with integral flow compensation can improve engine valve lift tracking precision both in steady and transient conditions.

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Shah, Syed Awais Ali, Bingtuan Gao, Nigar Ahmed, and Chuande Liu. "Advanced robust control techniques for the stabilization of translational oscillator with rotational actuator based barge-type OFWT." Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment 235, no. 2 (2021): 327–43. http://dx.doi.org/10.1177/1475090221991431.

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In recent times, renewable energy demand is rapidly increasing worldwide. Offshore wind energy is one of the alternative solutions to the problems posed by non-renewable energy resources. The kinetic energy of the wind is converted to mechanical energy by using an offshore floating wind turbine (OFWT). The efficiency of the OFWT is dependent upon the vibrational effect induced by the environment. In this paper, for the mitigation of this vibrational effect, a new model of barge-type OFWT is designed by using an active control strategy called translational oscillator with a rotational actuator (TORA). The disturbance observer (DO) based advanced control techniques including robust backstepping sliding mode control (BSMC), backstepping integral sliding mode control (BISMC), backstepping nonsingular terminal sliding mode control (BNTSMC), and a new backstepping integral nonsingular terminal sliding mode control (BINTSMC) technique, are devised for the stabilization of OFWT model. The comparison of these techniques is carried out by using MATLAB/SIMULINK which validates the feasibility and correctness of the proposed OFWT model and control techniques.

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Meng, Xiangxiang, Haisheng Yu, Herong Wu, and Tao Xu. "Disturbance Observer-Based Integral Backstepping Control for a Two-Tank Liquid Level System Subject to External Disturbances." Mathematical Problems in Engineering 2020 (January 20, 2020): 1–22. http://dx.doi.org/10.1155/2020/6801205.

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A novel method of disturbance observer-based integral backstepping control is proposed for the two-tank liquid level system with external disturbances. The problem of external disturbances can be settled in this paper. Firstly, the mathematical model of the two-tank liquid level system is established based on fluid mechanics and principle of mass conservation. Secondly, an integral backstepping control strategy is designed in order to ensure liquid level tracking performance by making the tracking errors converge to zero in finite time. Thirdly, a disturbance observer is designed for the two-tank liquid level system with external disturbances. Finally, the validity of the proposed method is verified by simulation and experiment. By doing so, the simulation and experimental results prove that the scheme of disturbance observer-based integral backstepping control strategy can suppress external disturbances more effective than the disturbance observer-based sliding mode control method and has better dynamic and steady performance of the two-tank liquid level system.

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Rabbani, Muhammad Junaid, and Attaullah Y. Memon. "Trajectory Tracking and Stabilization of Nonholonomic Wheeled Mobile Robot Using Recursive Integral Backstepping Control." Electronics 10, no. 16 (2021): 1992. http://dx.doi.org/10.3390/electronics10161992.

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In this paper, a generalized nontriangular normal form is presented to facilitate designing a recursive integral backstepping control for the class of underactuated nonholonomic systems, i.e., wheeled mobile robots (WMRs) that perform posture stabilization and trajectory tracking in environments without obstacles. Based on the differential geometry theory, we develop a multiple input multiple output (MINO) generalization of normal form using the input-output feedback linearization technique. Then, the change of variables (diffeomorphism) transform the state-space model of WMR, incorporating both kinematic and dynamic models into nontriangular normal form. As a result, the system dynamics can be represented as internal and external dynamics. The nonlinear internal dynamics of WMR pose serious challenges to design a suitable controller due to its internal dynamics being not minimum phase and non-strict feedback form structure. The proposed backstepping controller is designed in two steps. First, a standard integral backstepping controller is designed to stabilize the robot’s orientation angle. Then, a recursive integral backstepping control technique is applied to achieve asymptotic convergence of position error to zero. Hence, both asymptotic posture stabilization and trajectory tracking are achieved in semi-global regions, except the nonzero initial condition of the orientation angle. The asymptotic stability of the entire closed-loop system is shown using the Lyapunov criteria.

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Younes, Younes Al, Ahmad Drak, Hassan Noura, Abdelhamid Rabhi, and Ahmed El Hajjaji. "Quadrotor Position Control Using Cascaded Adaptive Integral Backstepping Controllers." Applied Mechanics and Materials 565 (June 2014): 98–106. http://dx.doi.org/10.4028/www.scientific.net/amm.565.98.

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This paper proposes a nonlinear control technique to control the position of the Qball-X4 quadrotor using a cascaded methodology of two Adaptive Integral Backstepping Controllers (AIBC). The nonlinear algorithm uses the principle of Lyapunov methodology in the backstepping technique to ensure the stability of the vehicle, and utilizes the integral action to eliminate the steady state error that caused by the disturbances and model uncertainties, as well as, the adaptation law will estimate the modeling errors caused by assumptions in simplifying the complexity of the quadrotor model. The algorithm goes through two stages of cascaded AIBCs; the first stage aims to stabilize the attitude and the altitude of the quadrotor, and the second stage feeds the first stage with the desired attitude values to control the position of the quadrotor.Flight test results show that the proposed algorithm is capable of controlling the position of the nonlinear quadrotor model.

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Han, Ding, Lin Yan, Guozheng Yan, Xiaoliang Wang, and Dengping Duan. "Integral Command Filtered Backstepping Control of a Flexible UAV." MATEC Web of Conferences 160 (2018): 05005. http://dx.doi.org/10.1051/matecconf/201816005005.

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Airships, as the significant UAV, have a need for greater autonomy in their new missions. Therefore, airship flight control systems require precise dynamic modeling, taking into account the effect of flexibility and the interaction with aerodynamic forces. This research effort develops an efficient modeling of the autonomous flexible airship. The formalisation used is based on the Lagrange method. The resulting model includes the rigid body motion, the elastic deformation, and the coupling between them. Based on the precise flexible dynamic model, a novel backstepping nonlinear controller with integral action is proposed for motion control systems. The resulting feedback controller is able to adapt to actuator performance limitations, such as limitations in magnitude and rate of change of rudder, than conventional backstepping controller without integral action. With the deformation considered, the presented controller could resist the flexible uncertainty effect, and the system’s trajectory tracking ability is significantly improved. The approach guarantees exponential stability of a compensated tracking error in the sense of Lyapunov.

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Pervaiz, M., Q. Khan, A. I. Bhatti, and S. A. Malik. "Output Tracking via Adaptive Backstepping Higher Order Integral Sliding Mode for Uncertain Nonlinear Systems." Discrete Dynamics in Nature and Society 2014 (2014): 1–10. http://dx.doi.org/10.1155/2014/619010.

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The authors propose a new tracking control design strategy for uncertain non-linear systems which are convertible to Semi-Strict Feedback Form (SSFF). The system in SSFF is first converted into new variables via existing adaptive backstepping control techniques. The control law is obtained by combining adaptive backstepping procedure and higher order integral sliding mode. The component of control law designed via backstepping is continuous which shows robustness against parametric uncertainties where as the discontinuous control component provides robustness against unmodeled dynamics and external disturbances. Since, this strategy relies on an integral manifold of the adaptively developed variables, therefore, the reaching phase is eliminated in this approach, which is an advantage in term of robustness. Furthermore, the parameters update law correctly provides the estimation of parameters which is again results in enhanced robustness of the strategy. The stability of proposed method is analysed theoretically and validated through a numerical example.

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Jalalabadi, Esmaeil, Seyedeh Zahra Paylakhi, Ashkan Rahimi‐kian, and Behzad Moshiri. "Integral backstepping Lyapunov redesign control of uncertain nonlinear systems." IET Control Theory & Applications 16, no. 3 (2021): 330–39. http://dx.doi.org/10.1049/cth2.12229.

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Coban, Ramazan. "Backstepping integral sliding mode control of an electromechanical system." Automatika 58, no. 3 (2017): 266–72. http://dx.doi.org/10.1080/00051144.2018.1426263.

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Huang, J., C. Li, and B. Y. Duan. "Adaptive backstepping integral control of servo systems with backlash." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 225, no. 8 (2011): 1149–62. http://dx.doi.org/10.1177/0959651811400950.

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Bhavesh R. Patel. "Integral Backstepping Control of Two Compartment Microbial Fuel Cell." Journal of Electrical Systems 20, no. 7s (2024): 2604–12. http://dx.doi.org/10.52783/jes.4093.

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Microbial fuel cells (MFCs) are a promising alternative to generate electricity from wastewater. MFCs need an efficient control system to get the optimal output voltage. The present study proposes an integral backstepping controller for the two-compartment microbial fuel cell. The complex higher-order transfer function of MFC is reduced using the approximation method. The effectiveness of the proposed controller is validated in MATLAB/Simulink simulation environment. The performance of the proposed controller is compared with the classical PID controller. The proposed controller's performance outweighs the PID controller.

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Malik, Ali Shafiq, Iftikhar Ahmad, Aqeel Ur Rahman, and Yasir Islam. "Integral Backstepping and Synergetic Control of Magnetic Levitation System." IEEE Access 7 (2019): 173230–39. http://dx.doi.org/10.1109/access.2019.2952551.

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Li, Chao-Yong, Wu-Xing Jing, and Chang-Sheng Gao. "Adaptive backstepping-based flight control system using integral filters." Aerospace Science and Technology 13, no. 2-3 (2009): 105–13. http://dx.doi.org/10.1016/j.ast.2008.05.002.

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Mathiyalagan, K., T. Renugadevi, and A. Shree Nidhi. "Results on Boundary Control for Parabolic Systems Using Backstepping Method." Mathematical Problems in Engineering 2022 (January 18, 2022): 1–13. http://dx.doi.org/10.1155/2022/4720044.

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This paper focuses on the stabilization problem for the linear parabolic system using the backstepping method. The exponentially stability results for considered parabolic system are derived in two cases with Dirichlet and Neumann local terms. Also, the boundary conditions for the problem is assumed to be mixed or Robin-type boundary conditions. The main aim is to achieve the stability of the considered system using the backstepping method with help of Volterra integral transformation. The explicit solutions of kernel functions in integral transformation is obtained by using Laplace transform and designed a boundary control law to the closed-loop system. Finally, the effectiveness and applicability of the derived results are validated through a single-species pattern generation model.

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Bae, Shinyoung, Tae Hoon Oh, Jong Woo Kim, Yeonsoo Kim, and Jong Min Lee. "Integrating Path Integral Control With Backstepping Control to Regulate Stochastic System." International Journal of Control, Automation and Systems 21, no. 7 (2023): 2124–38. http://dx.doi.org/10.1007/s12555-022-0799-8.

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Yuan, Jianping, Zhuohui Chai, Qingdong Chen, Zhihui Dong, and Lei Wan. "ESO-Based Non-Singular Terminal Filtered Integral Sliding Mode Backstepping Control for Unmanned Surface Vessels." Sensors 25, no. 2 (2025): 351. https://doi.org/10.3390/s25020351.

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Aiming at the control challenges faced by unmanned surface vessels (USVs) in complex environments, such as nonlinearities, parameter uncertainties, and environmental perturbations, we propose a non-singular terminal integral sliding mode control strategy based on an extended state observer (ESO). The strategy first employs a third-order linear extended state observer to estimate the total disturbances of the USV system, encompassing both external disturbances and internal nonlinearities. Subsequently, a backstepping sliding mode controller based on the Lyapunov theory is designed to generate the steering torque control commands for the USV. To further enhance the tracking performance of the system, we introduce a non-singular terminal integral sliding mode surface with a double power convergence law and redesign the backstepping sliding mode controller for the USV heading control. Meanwhile, to circumvent the differential explosion issue in traditional backstepping control, we simplify the controller design by utilizing a second-order sliding mode filter to accurately estimate the differential signals of the virtual control quantities. Theoretical analysis and simulation results demonstrate that the proposed control algorithm improves the convergence speed, adaptive ability, and anti-interference ability in complex environments compared to traditional linear backstepping sliding mode control, thereby enhancing its engineering practicability. This research offers a more efficient and reliable method for precise heading control and path tracking of USVs in complex and dynamic environments.

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Horch, Mohamed, Abdelmadjid Boumediene, and Lotfi Baghli. "MRAS-based Sensorless Speed Integral Backstepping Control for Induction Machine, using a Flux Backstepping Observer." International Journal of Power Electronics and Drive Systems (IJPEDS) 8, no. 4 (2017): 1650. http://dx.doi.org/10.11591/ijpeds.v8.i4.pp1650-1662.

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<p>This paper presents a study concerning a sensorless vector control of an induction machine fed by a voltage source inverter. The aim is to provide a scheme to control the speed and the rotor flux using a sensorless integral backstepping control approach. The rotor speed estimation is done by an observer using the model reference adaptive system (MRAS) technique whereas the nonlinear backstepping observer is used to get the rotor flux. The main objective is to achieve a robust control, adaptive and efficient, which will allow us to test and evaluate the performance of the proposed observer, combined with a sensorless control of the induction machine. Tests and validation are done using numerical simulations with MATLAB/SIMULINK-PSB (Power System Block set) toolbox. The results show good performance in terms of robustness regarding machine parameter variations and show the excellent quality of the control law associated with the observer, despite the observability problems when the machine operates at low speed. </p>

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Lin, Chih-Hong. "Integral backstepping control with RRFNN and MPSO of LPMSM drive system." Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, no. 7 (2020): 834–48. http://dx.doi.org/10.1177/0959651819898580.

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A linear permanent magnet synchronous motor drive system is existed in many nonlinear effects such as the external load force, the flux saturation, the cogging force, the column friction and Stribeck force, and the parameters variations. Due to the uncertainty effects, the linear permanent magnet synchronous motor drive system is hard to achieve the good control performance by using linear controller. To raise robustness under occurrence of uncertainty, the integral backstepping control system with hitting function is first proposed for controlling the linear permanent magnet synchronous motor drive system. The used integrator can ameliorate the system’s robustness under the parameters uncertainties and external force disturbances. To reduce vibration of control strength, the integral backstepping control system by means of the revised recurrent fuzzy neural network with mended particle swarm optimization is next proposed to operate the linear permanent magnet synchronous motor drive system to raise robustness of system. Furthermore, four variable learning rates in the weights of the revised recurrent fuzzy neural network are adopted by using mended particle swarm optimization to speed up parameter’s convergence. Finally, comparative performances through some experimental upshots are verified that the integral backstepping control system by means of revised recurrent fuzzy neural network with mended particle swarm optimization has better control performances than those of the proposed methods for the linear permanent magnet synchronous motor drive system.

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Mahmoudi, Omar, and Abdelkrim Boucheta. "Adaptive integral backstepping controller for linear induction motors." International Journal of Power Electronics and Drive Systems (IJPEDS) 10, no. 2 (2019): 709. http://dx.doi.org/10.11591/ijpeds.v10.i2.pp709-719.

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Linear induction motors offer the possibility to perform a direct linear motion without the nead of mechanical rotary to linear motion transformers. The main problem when controlling this kind of motors is the existence of indesirable behaviours such as end effect and parameter variations, which makes obtaining a precise plant model very complicated. This paper proposes an adaptive backstepping control technique with integral action based on lyapunov stability approach, which can guarantee the convergence of position tracking error to zero despite of parameter uncertainties and external load disturbance. Parameter adaptation laws are designed to estimate mover mass, viscous friction coefficient and load disturbance, which are assumed to be unknown constant parameters; as a result the compensation of their negative effect on control design system. The performance of the proposed control design was tested through simulation. The numerical validation results have shown good performance compared to the conventional backstepping controller and proved the robustness of the proposed controller against parameter variations and load disturbance.

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Omar, Mahmoudi, and Boucheta Abdelkrim. "Adaptive integral backstepping controller for linear induction motors." International Journal of Power Electronics and Drive System (IJPEDS) 10, no. 2 (2019): 709–19. https://doi.org/10.11591/ijpeds.v10.i2.pp709-719.

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Linear induction motors offer the possibility to perform a direct linear motion without the nead of mechanical rotary to linear motion transformers. The main problem when controlling this kind of motors is the existence of indesirable behaviours such as end effect and parameter variations, which makes obtaining a precise plant model very complicated. This paper proposes an adaptive backstepping control technique with integral action based on lyapunov stability approach, which can guarantee the convergence of position tracking error to zero despite of parameter uncertainties and external load disturbance. Parameter adaptation laws are designed to estimate mover mass, viscous friction coefficient and load disturbance, which are assumed to be unknown constant parameters; as a result the compensation of their negative effect on control design system. The performance of the proposed control design was tested through simulation. The numerical validation results have shown good performance compared to the conventional backstepping controller and proved the robustness of the proposed controller against parameter variations and load disturbance.

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Mohammed, Mekkaoui, Zemalache Meguenni Kada, Omari Abdel Hafid, and Lotfi Motefai. "Electrical Vehicle Modeling and Backstepping Control." Indonesian Journal of Electrical Engineering and Computer Science 1, no. 1 (2016): 60. http://dx.doi.org/10.11591/ijeecs.v1.i1.pp60-70.

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Nowadays, the development of electric vehicles has become a general trend. Electrical vehicles have improved their performance, and have been made suitable for commercial and domestic use during the last decades. The proportional–integral–differential (PID) controller has been widely used in the industrial ﬁeld. It has a simple structure, and can be easily realized. The recursive backstepping design methodology is originally introduced inadaptive control theory to systematically construct the feedback control law, the parameter adaptation law and the associated Lyapunov function for a class of nonlinear systems satisfying certain structured properties. the backstepping control (BKC) is used to improve the robustness and real-time performance of the electrical vehicle system. Numerical simulation results show the effectiveness of this approach.

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Pervaiz, Mahmood, Qudrat Khan, Aamer Iqbal Bhatti, and Shahzad Ahmed Malik. "Dynamical Adaptive Integral Sliding Backstepping Control of Nonlinear Nontriangular Uncertain Systems." Mathematical Problems in Engineering 2014 (2014): 1–14. http://dx.doi.org/10.1155/2014/492824.

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We present a control strategy for nonlinear nontriangular uncertain systems. The proposed control method is a synergy between the dynamic adaptive backstepping (DAB) and integral sliding mode (ISM) and is referred to as DAB-ISMC. Our main objective is to find a recursive procedure to transform a nontriangular system into an implementable form that enables designing a control law which almost eliminates the reaching-phase. The proposed method further facilitates minimization of chattering which is believed to be a shortcoming of the sliding mode control. In this methodology, the ISM, as an integrated subsystem of DAB, is introduced at the final stage of backstepping. This strategy works very well to obtain a system that is robust against model imperfections, matching and unmatching uncertainties. The DAB-ISMC method is applied on a continuous stirred tank reactor (CSTR) and simulation results obtained on Matlab are found to be very promising.

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Liu, Sheng, Jian Song, Lanyong Zhang, and Yinchao Tan. "Adaptive Finite-Time Backstepping Integral Sliding Mode Control of Three-Degree-of-Freedom Stabilized System for Ship Propulsion-Assisted Sail Based on the Inverse System Method." Journal of Marine Science and Engineering 12, no. 2 (2024): 348. http://dx.doi.org/10.3390/jmse12020348.

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The three-degree-of-freedom (3-DOF) stabilized control system for ship propulsion-assisted sails is used to control the 3-DOF motion of sails to obtain offshore wind energy. The attitude of the sail is adjusted to ensure optimal thrust along the target course. An adaptive finite-time backstepping integral sliding mode control based on the inverse system method (ABISMC-ISM) is presented for attitude tracking of the sail. Considering the nonlinear dynamics and strong coupling of the system, a decoupling strategy is established using the inverse system method (ISM). Constructing inverse dynamics to eliminate internal coupling, the system is transformed into independent pseudolinear subsystems. For the decoupled open-loop subsystems, an adaptive finite-time backstepping integral sliding mode control is designed to achieve closed-loop control. A backstepping-based integral sliding surface is proposed to eliminate the phase-reaching stage of the sliding surface. Considering the unmodelled dynamics and external disturbances, an adaptive extreme learning machine (AELM) was designed to estimate the disturbances. Furthermore, a sliding mode reaching law based on finite-time theory was employed to ensure that the system returns to the sliding surface in a finite time under chattering conditions. Experiments on a principle prototype demonstrate the effectiveness and energy-saving performance of the proposed method.

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Aranda-Cetraro, Italo, Gustavo Pérez-Zúñiga, Raul Rivas-Pérez, and Javier Sotomayor-Moriano. "Nonlinear Robust Control by a Modulating-Function-Based Backstepping Super-Twisting Controller for a Quadruple Tank System." Sensors 23, no. 11 (2023): 5222. http://dx.doi.org/10.3390/s23115222.

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In this paper, a robust nonlinear approach for control of liquid levels in a quadruple tank system (QTS) is developed based on the design of an integrator backstepping super-twisting controller, which implements a multivariable sliding surface, where the error trajectories converge to the origin at any operating point of the system. Since the backstepping algorithm is dependent on the derivatives of the state variables, and it is sensitive to measurement noise, integral transformations of the backstepping virtual controls are performed via the modulating functions technique, rendering the algorithm derivative-free and immune to noise. The simulations based on the dynamics of the QTS located at the Advanced Control Systems Laboratory of the Pontificia Universidad Católica del Perú (PUCP) showed a good performance of the designed controller and therefore the robustness of the proposed approach.

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Ali, Sadia, Alvaro Prado, and Mahmood Pervaiz. "Hybrid Backstepping-Super Twisting Algorithm for Robust Speed Control of a Three-Phase Induction Motor." Electronics 12, no. 3 (2023): 681. http://dx.doi.org/10.3390/electronics12030681.

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This paper proposes a Hybrid Backstepping Super Twisting Algorithm for robust speed control of a three-phase Induction Motor in the presence of load torque uncertainties. First of all, a three-phase squirrel cage Induction Motor is modeled in MATLAB/Simulink. This is then followed by the design of different non-linear controllers, such as sliding mode control (SMC), super twisting SMC, and backstepping control. Furthermore, a novel controller is designed by the synergy of two methods, such as backstepping and super twisting SMC (Back-STC), to obtain the benefits of both techniques and, thereby, improve robustness. The sigmoid function is used with an exact differentiator to minimize the high-speed discontinuities present in the input channel. The efficacy of this novel design and its performance were evidenced in comparison with other methods, carried out by simulations in MATLAB/Simulink. Regression parameters, such as ISE (Integral Square error), IAE (Integral Absolute error) and ITAE (Integral Time Absolute error), were calculated in three different modes of operation: SSM (Start-Stop Mode), NOM (Normal Operation Mode) and DRM (Disturbance Rejection Mode). In the end, the numerical values of the regression parameters were quantitatively analyzed to draw conclusions regarding the tracking performance and robustness of the implemented non-linear control techniques.

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Barikbin, Baharnaz, and Ahmad Fakharian. "Trajectory tracking for quadrotor UAV transporting cable-suspended payload in wind presence." Transactions of the Institute of Measurement and Control 41, no. 5 (2018): 1243–55. http://dx.doi.org/10.1177/0142331218774606.

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In this paper, trajectory tracking for a quadrotor unmanned aerial vehicle (UAV) is considered in the presence of a cable-suspended payload and wind as unknown disturbances. It is assumed that the wind disturbance is slowly time varying and affects quadrotor position and orientation independently. Nonlinear robust strategies, such as backstepping and sliding mode control could be used for trajectory tracking; however, they fail to stabilize the system in the presence of payload or wind, or both together. We have proposed a combined backstepping and super-twisting integral sliding mode strategy to stabilize the system. Conventional sliding mode control suggests discontinuous control signals and suffers from the chattering phenomenon whereas its super-twisting integral version suggests continuous control signals, which makes it implementable and chattering free.

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Labbadi, Moussa, and Mohamed Cherkaoui. "Robust Integral Terminal Sliding Mode Control for Quadrotor UAV with External Disturbances." International Journal of Aerospace Engineering 2019 (August 19, 2019): 1–10. http://dx.doi.org/10.1155/2019/2016416.

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The purpose of this paper is to solve the problem of controlling of the quadrotor exposed to external constant disturbances. The quadrotor system is partitioned into two parts: the attitude subsystem and the position subsystem. A new robust integral terminal sliding mode control law (RITSMC) is designed for stabilizing the inner loop and the quick tracking of the right desired values of the Euler angles. To estimate the disturbance displayed on the z-axis and to control the altitude position subsystem, an adaptive backstepping technique is proposed, while the horizontal position subsystem is controlled using the backstepping approach. The stability of the quadrotor subsystems is guaranteed by the Lyapunov theory. The effectiveness of the proposed methods is clearly comprehended through the obtained results of the various simulations effectuated on MATLAB/Simulink, and a comparison with another technique is presented.

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Zhang, Shuzhong, Su Li, and Fuquan Dai. "Integral Sliding Mode Backstepping Control of an Asymmetric Electro-Hydrostatic Actuator Based on Extended State Observer." Proceedings 64, no. 1 (2020): 13. http://dx.doi.org/10.3390/iecat2020-08495.

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To provide high output force and to reduce the installation space, the electro-hydrostatic actuator (EHA) usually adopts asymmetric cylinder. However, comprehensive effects produced by its asymmetric flow, parameter uncertainties and unknown disturbance make it difficult to achieve high-accuracy position control. This paper proposed an integral sliding mode backstepping control (ISMBC) based on extended state observer for the asymmetric EHA. Firstly, the principle of the EHA was analyzed and an EHA model was built. Furthermore, the state space equation of the EHA was established based on flow distribution analysis. Two extended state observers (ESO) were designed to achieve real-time estimation of the unmeasured system states, unmatched and matched disturbances. The backstepping method was used to compensate the matched and unmatched disturbance, and an integrated sliding mode controller was developed to eliminate the static error and to improve the response ability. Theoretical analysis indicates that the controller can guarantee the desired tracking performance for the actuator under time-varying unmatched disturbances, and can make the tracking error asymptotically converge to zero under constant matched disturbances. Finally, simulations were performed with the designed controller, backstepping controller and proportional–integral–derivative (PID) controller, respectively. Thereafter, detailed comparisons of the control performances were provided. The results show that the proposed controller can achieve better position tracking and stronger robustness in parameter changing compared with the backstepping controller and PID controller.

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Fang, Zheng, Weinan Gao, and Lei Zhang. "Robust Adaptive Integral Backstepping Control of a 3-DOF Helicopter." International Journal of Advanced Robotic Systems 9, no. 3 (2012): 79. http://dx.doi.org/10.5772/50864.

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Kalliny, Andrew N., Ayman A. El-Badawy, and Sarah M. Elkhamisy. "Command-Filtered Integral Backstepping Control of Longitudinal Flapping-Wing Flight." Journal of Guidance, Control, and Dynamics 41, no. 7 (2018): 1556–68. http://dx.doi.org/10.2514/1.g003267.

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Wanga, Renqiang, Hua Deng, Keyin Miao, Yue Zhao, and Jiabao Du. "RBF network based integral backstepping sliding mode control for USV." MATEC Web of Conferences 139 (2017): 00143. http://dx.doi.org/10.1051/matecconf/201713900143.

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Kim, Min-Chan, Gun-Pyong Kwak, Ho-Kyun Ahn, Tae-Sung Yoon, and Seung-Kyu Park. "Robust Backstepping control of IPMSM Using PID Integral Sliding Mode." Journal of the Korea Institute of Information and Communication Engineering 19, no. 8 (2015): 1874–82. http://dx.doi.org/10.6109/jkiice.2015.19.8.1874.

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Hamida, Mohamed Assaad, Alain Glumineau, and Jesus de Leon. "Robust integral backstepping control for sensorless IPM synchronous motor controller." Journal of the Franklin Institute 349, no. 5 (2012): 1734–57. http://dx.doi.org/10.1016/j.jfranklin.2012.02.005.

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Golestani, Mehdi, Iman Mohammadzaman, and Ahmad Reza Vali. "Finite-time convergent guidance law based on integral backstepping control." Aerospace Science and Technology 39 (December 2014): 370–76. http://dx.doi.org/10.1016/j.ast.2014.09.018.

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Journal articles on the topic 'Integral backstepping control'

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