Robust backstepping control with disturbance rejection for a class of underactuated systems

Muhammad Kazim; Adeel Zaidi; Lixian Zhang; Adeel Mehmood

doi:10.1109/IECON.2017.8216524

Robust backstepping control with disturbance rejection for a class of underactuated systems

Muhammad Kazim
, Adeel Zaidi
, Lixian Zhang
, Adeel Mehmood

School of Astronautics, Harbin Institute of Technology
COMSATS University Islamabad

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

4 Scopus citations

Abstract

This paper is concerned with the problem of stabilization and tracking for a class of underactuated systems subjected to external disturbances. Based on the mathematical model of a 4 degrees of freedom (4DOF) ball and plate system, a robust backstepping controller with disturbance rejection is developed. The proposed controller is capable of handling bounded uncertainties with unknown periodicity affecting the control. A comprehensive comparison between linear quadratic regulator (LQR) and the robust backstepping controller is provided, which affirms the superior performance of the proposed control design.

Original language	English
Title of host publication	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3104-3109
Number of pages	6
ISBN (Electronic)	9781538611272
DOIs	https://doi.org/10.1109/IECON.2017.8216524
State	Published - 15 Dec 2017
Externally published	Yes
Event	43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China Duration: 29 Oct 2017 → 1 Nov 2017

Publication series

Name	Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
Volume	2017-January

Conference

Conference	43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
Country/Territory	China
City	Beijing
Period	29/10/17 → 1/11/17

Keywords

Ball and plate system (BPS)
backstepping
ball and beam system (BBS)
disturbance rejection
linear quadratic regulator (LQR)
underactuated

Access to Document

10.1109/IECON.2017.8216524

Cite this

Kazim, M., Zaidi, A., Zhang, L., & Mehmood, A. (2017). Robust backstepping control with disturbance rejection for a class of underactuated systems. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society (pp. 3104-3109). (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2017.8216524

Kazim, Muhammad ; Zaidi, Adeel ; Zhang, Lixian et al. / Robust backstepping control with disturbance rejection for a class of underactuated systems. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 3104-3109 (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society).

@inproceedings{45bedbb29982411880742b5a7b3f43b7,

title = "Robust backstepping control with disturbance rejection for a class of underactuated systems",

abstract = "This paper is concerned with the problem of stabilization and tracking for a class of underactuated systems subjected to external disturbances. Based on the mathematical model of a 4 degrees of freedom (4DOF) ball and plate system, a robust backstepping controller with disturbance rejection is developed. The proposed controller is capable of handling bounded uncertainties with unknown periodicity affecting the control. A comprehensive comparison between linear quadratic regulator (LQR) and the robust backstepping controller is provided, which affirms the superior performance of the proposed control design.",

keywords = "Ball and plate system (BPS), backstepping, ball and beam system (BBS), disturbance rejection, linear quadratic regulator (LQR), underactuated",

author = "Muhammad Kazim and Adeel Zaidi and Lixian Zhang and Adeel Mehmood",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 ; Conference date: 29-10-2017 Through 01-11-2017",

year = "2017",

month = dec,

day = "15",

doi = "10.1109/IECON.2017.8216524",

language = "英语",

series = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "3104--3109",

booktitle = "Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society",

address = "美国",

}

Kazim, M, Zaidi, A, Zhang, L & Mehmood, A 2017, Robust backstepping control with disturbance rejection for a class of underactuated systems. in Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 3104-3109, 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017, Beijing, China, 29/10/17. https://doi.org/10.1109/IECON.2017.8216524

Robust backstepping control with disturbance rejection for a class of underactuated systems. / Kazim, Muhammad; Zaidi, Adeel; Zhang, Lixian et al.
Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2017. p. 3104-3109 (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society; Vol. 2017-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Robust backstepping control with disturbance rejection for a class of underactuated systems

AU - Kazim, Muhammad

AU - Zaidi, Adeel

AU - Zhang, Lixian

AU - Mehmood, Adeel

PY - 2017/12/15

Y1 - 2017/12/15

N2 - This paper is concerned with the problem of stabilization and tracking for a class of underactuated systems subjected to external disturbances. Based on the mathematical model of a 4 degrees of freedom (4DOF) ball and plate system, a robust backstepping controller with disturbance rejection is developed. The proposed controller is capable of handling bounded uncertainties with unknown periodicity affecting the control. A comprehensive comparison between linear quadratic regulator (LQR) and the robust backstepping controller is provided, which affirms the superior performance of the proposed control design.

AB - This paper is concerned with the problem of stabilization and tracking for a class of underactuated systems subjected to external disturbances. Based on the mathematical model of a 4 degrees of freedom (4DOF) ball and plate system, a robust backstepping controller with disturbance rejection is developed. The proposed controller is capable of handling bounded uncertainties with unknown periodicity affecting the control. A comprehensive comparison between linear quadratic regulator (LQR) and the robust backstepping controller is provided, which affirms the superior performance of the proposed control design.

KW - Ball and plate system (BPS)

KW - backstepping

KW - ball and beam system (BBS)

KW - disturbance rejection

KW - linear quadratic regulator (LQR)

KW - underactuated

UR - https://www.scopus.com/pages/publications/85046665241

U2 - 10.1109/IECON.2017.8216524

DO - 10.1109/IECON.2017.8216524

M3 - 会议稿件

AN - SCOPUS:85046665241

T3 - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

SP - 3104

EP - 3109

BT - Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017

Y2 - 29 October 2017 through 1 November 2017

ER -

Kazim M, Zaidi A, Zhang L, Mehmood A. Robust backstepping control with disturbance rejection for a class of underactuated systems. In Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2017. p. 3104-3109. (Proceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society). doi: 10.1109/IECON.2017.8216524

Robust backstepping control with disturbance rejection for a class of underactuated systems

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this