Subsystem backstepping design for controlling a class of nonlinear SISO systems with cascade structure

Yu-Shen Lu, Chi Sheng Hwang, Shu Fen Lien

Research output: Contribution to journalArticle

4 Citations (Scopus)

Abstract

This paper presents a controller design, referred to as the subsystem backstepping design (SSBD), for a class of nonlinear SISO mechatronic systems that comprise several cascaded subsystems. Compared with the conventional integrator backstepping design (CIBD) that deals with a first-order equation at each design step, the SSBD manages at each design step a subsystem that can be of high order. This both simplifies the design procedure and also makes controller parameters conveniently determined according to dynamic characteristics of each subsystem as in the conventional cascade control design with multiple feedback loops. However, in contrast to the conventional cascade control design, the SSBD does not require the inner feedback loop to respond much faster than the outer feedback loop, while guaranteeing system stability for a class of nonlinear systems. In addition, a variant of the SSBD, called internal model principle-based SSBD (IMP-SSBD), is presented to both further demonstrate the advantages of the SSBD procedure over the CIBD and also achieve robust tracking performance. The effectiveness of the proposed scheme is demonstrated through experimental studies of a harmonic drive system suffering from transmission compliance and periodic disturbances.

Original languageEnglish
Pages (from-to)971-982
Number of pages12
JournalMechatronics
Volume21
Issue number6
DOIs
Publication statusPublished - 2011 Sep 1

Fingerprint

Backstepping
Nonlinear systems
Feedback
Controllers
Mechatronics
System stability

Keywords

  • Cascade control
  • Harmonic drive
  • Integrator backstepping
  • Internal model principle
  • Sliding mode
  • Subsystem backstepping

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Subsystem backstepping design for controlling a class of nonlinear SISO systems with cascade structure. / Lu, Yu-Shen; Hwang, Chi Sheng; Lien, Shu Fen.

In: Mechatronics, Vol. 21, No. 6, 01.09.2011, p. 971-982.

Research output: Contribution to journalArticle

@article{aed07f072b41479fb0a63f13b2850dc7,
title = "Subsystem backstepping design for controlling a class of nonlinear SISO systems with cascade structure",
abstract = "This paper presents a controller design, referred to as the subsystem backstepping design (SSBD), for a class of nonlinear SISO mechatronic systems that comprise several cascaded subsystems. Compared with the conventional integrator backstepping design (CIBD) that deals with a first-order equation at each design step, the SSBD manages at each design step a subsystem that can be of high order. This both simplifies the design procedure and also makes controller parameters conveniently determined according to dynamic characteristics of each subsystem as in the conventional cascade control design with multiple feedback loops. However, in contrast to the conventional cascade control design, the SSBD does not require the inner feedback loop to respond much faster than the outer feedback loop, while guaranteeing system stability for a class of nonlinear systems. In addition, a variant of the SSBD, called internal model principle-based SSBD (IMP-SSBD), is presented to both further demonstrate the advantages of the SSBD procedure over the CIBD and also achieve robust tracking performance. The effectiveness of the proposed scheme is demonstrated through experimental studies of a harmonic drive system suffering from transmission compliance and periodic disturbances.",
keywords = "Cascade control, Harmonic drive, Integrator backstepping, Internal model principle, Sliding mode, Subsystem backstepping",
author = "Yu-Shen Lu and Hwang, {Chi Sheng} and Lien, {Shu Fen}",
year = "2011",
month = "9",
day = "1",
doi = "10.1016/j.mechatronics.2011.03.012",
language = "English",
volume = "21",
pages = "971--982",
journal = "Mechatronics",
issn = "0957-4158",
publisher = "Elsevier Limited",
number = "6",

}

TY - JOUR

T1 - Subsystem backstepping design for controlling a class of nonlinear SISO systems with cascade structure

AU - Lu, Yu-Shen

AU - Hwang, Chi Sheng

AU - Lien, Shu Fen

PY - 2011/9/1

Y1 - 2011/9/1

N2 - This paper presents a controller design, referred to as the subsystem backstepping design (SSBD), for a class of nonlinear SISO mechatronic systems that comprise several cascaded subsystems. Compared with the conventional integrator backstepping design (CIBD) that deals with a first-order equation at each design step, the SSBD manages at each design step a subsystem that can be of high order. This both simplifies the design procedure and also makes controller parameters conveniently determined according to dynamic characteristics of each subsystem as in the conventional cascade control design with multiple feedback loops. However, in contrast to the conventional cascade control design, the SSBD does not require the inner feedback loop to respond much faster than the outer feedback loop, while guaranteeing system stability for a class of nonlinear systems. In addition, a variant of the SSBD, called internal model principle-based SSBD (IMP-SSBD), is presented to both further demonstrate the advantages of the SSBD procedure over the CIBD and also achieve robust tracking performance. The effectiveness of the proposed scheme is demonstrated through experimental studies of a harmonic drive system suffering from transmission compliance and periodic disturbances.

AB - This paper presents a controller design, referred to as the subsystem backstepping design (SSBD), for a class of nonlinear SISO mechatronic systems that comprise several cascaded subsystems. Compared with the conventional integrator backstepping design (CIBD) that deals with a first-order equation at each design step, the SSBD manages at each design step a subsystem that can be of high order. This both simplifies the design procedure and also makes controller parameters conveniently determined according to dynamic characteristics of each subsystem as in the conventional cascade control design with multiple feedback loops. However, in contrast to the conventional cascade control design, the SSBD does not require the inner feedback loop to respond much faster than the outer feedback loop, while guaranteeing system stability for a class of nonlinear systems. In addition, a variant of the SSBD, called internal model principle-based SSBD (IMP-SSBD), is presented to both further demonstrate the advantages of the SSBD procedure over the CIBD and also achieve robust tracking performance. The effectiveness of the proposed scheme is demonstrated through experimental studies of a harmonic drive system suffering from transmission compliance and periodic disturbances.

KW - Cascade control

KW - Harmonic drive

KW - Integrator backstepping

KW - Internal model principle

KW - Sliding mode

KW - Subsystem backstepping

UR - http://www.scopus.com/inward/record.url?scp=80052736682&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=80052736682&partnerID=8YFLogxK

U2 - 10.1016/j.mechatronics.2011.03.012

DO - 10.1016/j.mechatronics.2011.03.012

M3 - Article

VL - 21

SP - 971

EP - 982

JO - Mechatronics

JF - Mechatronics

SN - 0957-4158

IS - 6

ER -