High Gain Observer Based Backstepping Control Design for Nonlinear Single-Axis Driven Systems
(1) Rawnaq A. Mahmod Mail (University of Technology-Iraq, Iraq)
(2) Russul A. Kadhima Mail (University of Technology-Iraq, Iraq)
(3) * Mohanad Nawfal Mail (University of Technology-Iraq, Iraq)
(4) Huthaifa Al-Khazraji Mail (University of Technology-Iraq, Iraq)
*corresponding author

Abstract


In this paper, a backstepping (BS) control design approach is proposed for tracking angular position control problem of a single-input and single-output (SISO) nonlinear single-axis driven system. To implement proposed BS control, the states of the system should be available. To address this problem, a high gain observer (HGO) is introduced for estimating the states. The design parameters of the HGO based BS controller have been optimized using the circle search algorithm (CSA). Compare to other optimization algorithm, the CSA explores the search space in a circular trajectory which can enhance local exploitation. The CSA uses integral of absolute error (IAE) as the performance index for the tuning process. The effectiveness of the proposed controller is demonstrated through simulations. Firstly, for observer evaluation, simulation outcomes indicate that the HGO is capable to estimate the states of the system successfully. However, to evaluate the BS with other nonlinear controllers for tracking control problem, the synergetic (SG) control is proposed. The simulated data results based on IAE index revealed that the BS control has lower IAE value than the SG control where the value of the IAE of the system with the BS control is reduced by 19.4% in compares with the system with the SG control.

Keywords


Backstepping Control; Nonlinear Control; Tracking Control Problem; Single-Axis Driven Systems; High Gain Observer; Circle Search Algorithm; Synergetic Control

   

DOI

https://doi.org/10.31763/ijrcs.v5i3.1984 		      

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