Paper Info
Title
Finite-Time Stabilization By Robust Backstepping For A Class Of Mechanical Systems
Abstract
In this paper, a control law based on the ideas of backstepping is presented. A plant model, motivated by mechanical systems, serves as controller design model. In order to ensure robustness and an improved convergence time of the closed loop system, techniques of sliding mode control are introduced. The convergence time of the closed loop system is estimated with the help of Lyapunov's direct method. A real world system is considered in order to discuss the performance of the proposed strategy. The controller parameters are tuned based on stability conditions and numerical simulations. Finally the performance of the method is compared to two alternative control strategies.
Year
DOI
Venue
2011
10.1109/CCA.2011.6044435
2011 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA)
Keywords
Field
DocType
mathematical model,numerical analysis,robust control,linear matrix inequality,sliding mode control,direct method,numerical simulation,convergence,mechanical systems
Lyapunov function,Control theory,Backstepping,Computer simulation,Computer science,Control theory,Control engineering,Robustness (computer science),Robust control,Mechanical system,Sliding mode control
Conference
ISSN
Citations 
PageRank 
1085-1992
0
0.34
References 
Authors
14
2
Name
Order
Citations
PageRank
Markus Reichhartinger16113.35
Martin Horn2167.69