A robust integral type backstepping controller design for control of uncertain nonlinear systems subject to disturbance

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Abstract

This paper considers the design of a robust controller for a class of nonlinear systems subject to both model uncertainties and unknown external disturbances. Using the concept of both backstepping design and sliding mode control theory, an integral type control algorithm is presented. The proposed controller not only stabilizes nonlinear systems in the presence of mismatched uncertainties, eliminates/reconstructs exogenous disturbances, but also provides smooth control effort. As a result, the developed method is adequate for practical implementation. A criterion of control gains setting for achieving closed-loop stability and disturbance rejection is addressed. Control system design for an unstable nonlinear system is used to illustrate the applicability of the proposed approach and experimental study is also provided to demonstrate the disturbance rejection/reconstruction capability.

Original languageEnglish
Pages (from-to)2543-2560
Number of pages18
JournalInternational Journal of Innovative Computing, Information and Control
Volume7
Issue number5 A
Publication statusPublished - 2011 May 1

All Science Journal Classification (ASJC) codes

  • Software
  • Theoretical Computer Science
  • Information Systems
  • Computational Theory and Mathematics

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