Controller design for position tracking of nonlinear system
Usually, the nonlinearities existing in the system is eliminated by using linearization method. However, backstepping method allows additional nonlinearities to be created and introduced to the control process so that the undesirable nonlinearities can be cancelled out from the system. In this work,...
| Main Authors: | , , , , |
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| Format: | Conference or Workshop Item |
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2013
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| _version_ | 1796859547213627392 |
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| author | Md. Rozali, S. Kamarudin, M. N. Rahmat, M. F. Husain, A. R. Abidin, A. F. Z. |
| author_facet | Md. Rozali, S. Kamarudin, M. N. Rahmat, M. F. Husain, A. R. Abidin, A. F. Z. |
| author_sort | Md. Rozali, S. |
| collection | ePrints |
| description | Usually, the nonlinearities existing in the system is eliminated by using linearization method. However, backstepping method allows additional nonlinearities to be created and introduced to the control process so that the undesirable nonlinearities can be cancelled out from the system. In this work,position tracking of electrohydraulic actuator system is taken as a numerical example since it is highly nonlinear. Backstepping controller is designed for the system without disturbance and with additional disturbance is given to its actuator. Control parameter of the designed controller for both condition is then optimized by using Particle Swarm Optimization method. The performance of the designed controller to the system is observed through its tracking error. |
| first_indexed | 2024-03-05T19:28:47Z |
| format | Conference or Workshop Item |
| id | utm.eprints-50963 |
| institution | Universiti Teknologi Malaysia - ePrints |
| last_indexed | 2024-03-05T19:28:47Z |
| publishDate | 2013 |
| record_format | dspace |
| spelling | utm.eprints-509632017-08-22T06:32:44Z http://eprints.utm.my/50963/ Controller design for position tracking of nonlinear system Md. Rozali, S. Kamarudin, M. N. Rahmat, M. F. Husain, A. R. Abidin, A. F. Z. TK Electrical engineering. Electronics Nuclear engineering Usually, the nonlinearities existing in the system is eliminated by using linearization method. However, backstepping method allows additional nonlinearities to be created and introduced to the control process so that the undesirable nonlinearities can be cancelled out from the system. In this work,position tracking of electrohydraulic actuator system is taken as a numerical example since it is highly nonlinear. Backstepping controller is designed for the system without disturbance and with additional disturbance is given to its actuator. Control parameter of the designed controller for both condition is then optimized by using Particle Swarm Optimization method. The performance of the designed controller to the system is observed through its tracking error. 2013 Conference or Workshop Item PeerReviewed Md. Rozali, S. and Kamarudin, M. N. and Rahmat, M. F. and Husain, A. R. and Abidin, A. F. Z. (2013) Controller design for position tracking of nonlinear system. In: Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013. http://dx.doi.org/10.1109/ICIEA.2013.6566360 |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Md. Rozali, S. Kamarudin, M. N. Rahmat, M. F. Husain, A. R. Abidin, A. F. Z. Controller design for position tracking of nonlinear system |
| title | Controller design for position tracking of nonlinear system |
| title_full | Controller design for position tracking of nonlinear system |
| title_fullStr | Controller design for position tracking of nonlinear system |
| title_full_unstemmed | Controller design for position tracking of nonlinear system |
| title_short | Controller design for position tracking of nonlinear system |
| title_sort | controller design for position tracking of nonlinear system |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| work_keys_str_mv | AT mdrozalis controllerdesignforpositiontrackingofnonlinearsystem AT kamarudinmn controllerdesignforpositiontrackingofnonlinearsystem AT rahmatmf controllerdesignforpositiontrackingofnonlinearsystem AT husainar controllerdesignforpositiontrackingofnonlinearsystem AT abidinafz controllerdesignforpositiontrackingofnonlinearsystem |