ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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10
Issue
vol 62 / November, 2019
Article

DOI 10.17586/0021-3454-2015-58-9-707-712

UDC 519.7

MODIFIED BACKSTEPPING ALGORITHM FOR CONTROL OVER NONLINEAR PLANTS WITH DELAY

I. B. Furtat
Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; ITMO University, Saint Petersburg, 197101, Russian Federation; Leading scientific researcher$ Professor


E. A. Tupichin
ITMO University; Department of Control Systems and Informatics, St. Petersburg; Post-Graduate Student


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Abstract. 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: robust control, backstepping method, nonlinear system