NDLI: Adaptive Lyapunov-based backstepping control for an axially moving system with input saturation

Content Provider	IET Digital Library
Author	Liu, Yu Zhao, Zhijia Guo, Fang
Abstract	This study presents an adaptive boundary control to suppress the vibration of an axially moving accelerated/decelerated belt system with input saturation. The dynamic model of the belt system is represented by a non-homogeneous hyperbolic partial differential equation and two ordinary differential equations with the consideration of the high acceleration/deceleration. By utilising backstepping technique and adaptive technique, an adaptive boundary control is developed based on Lyapunov's direct method to stabilise the presented belt system. An auxiliary system is introduced to handle the effects of the input saturation, an adaptive law is designed to compensate for the system parametric uncertainties, a disturbance adaptation law is proposed to cancel out the effects of the boundary disturbance and the S-curve acceleration/deceleration method is adopted to plan the speed of the belt system. With the proposed control scheme, the system states are guaranteed to be uniformly bounded and converged to a small neighbourhood of its equilibrium position, and the spillover instability problems are also avoided. Numerical simulations are provided to illustrate the validity of the proposed control scheme.
Starting Page	2083
Ending Page	2092
Page Count	10
ISSN	17518644
Volume Number	10
e-ISSN	17518652
Issue Number	Issue 16, Oct (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/10/16
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2016.0417
Journal	IET Control Theory & Applications
Publisher Date	2016-07-12
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Adaptive Boundary Control Adaptive Boundary Control Development Adaptive Control Adaptive Law Design Adaptive Lyapunov-based Backstepping Control Angular Velocity Control Axially Moving Accelerated-decelerated Belt System Axially Moving System Belts Control Nonlinearities Control System Analysis Control System Synthesis Disturbance Adaptation Law Input Saturation Lyapunov Direct Method Lyapunov Method Mathematical Analysis Mechanical Component Mechanical Engineering Mechanical Variables Control Nonhomogeneous Hyperbolic Partial Differential Equation Nonlinear Control System Ordinary Differential Equation Partial Differential Equation Rotation Control S-curve Acceleration-deceleration Method Self Adjusting Control System Spillover Instability Problem Stability in Control Theory Synthesis Method System Parametric Uncertainties Uncertain System Velocity Vibration Control Vibrations And Shock Wave
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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