Abstract
Output-constrained backstepping dynamic surface control (DSC) is proposed for the purpose of output constraint and precise output positioning of a strict feedback single-input, single-output dynamic system in the presence of deadzone and uncertainty. A symmetric barrier Lyapunov function (BLF) is employed to meet the output constraint requirement using DSC as an alternative method of backstepping control that is adopted mainly to deal with the BLF’s constraint control. However, using the ordinary DSC method with the BLF limits the selection of the control gain whereas this limitation does not exist in the backstepping structure. To remove this limitation, we propose a partial backstepping DSC method in which backstepping control is added only in the first recursive DSC design step. For precise positioning, an inverse deadzone method and adaptive fuzzy system are introduced to handle unknown deadzone and unmodeled nonlinear functions. We show that the semiglobal boundedness of the overall closed-loop signals is guaranteed, the tracking error converges within the prescribed region, and precise positioning performance is ensured. The proposed control scheme is experimentally evaluated using a robot manipulator.
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Recommended by Editorial Board member Myung Geun Chun under the direction of Editor Young-Hoon Joo.
This research was supported by the MKE(The Ministry of Knowledge Economy), Korea, under the Specialized Field Navigation /Localization Technology Research Center support program supervised by the NIPA(National IT Industry Promotion Agency) (NIPA-2010-(C7000-1001-0004)).
Seong-Ik Han received his B.S. and M.S. degrees in Mechanical Engineering from Pusan National University, Korea, in 1987 and 1989, respectively, and his Ph.D. in Mechanical Design Engineering from Pusan National University in 1995. From 1995 to 2009, he was an associate professor of Electrical Automation of Suncheon First College, Korea. Now he is with the School of Electrical Engineering, Pusan National University, Korea. His research interests include intelligent control, nonlinear control, robotic control, hydraulic servo system control, vehicle system control and steel process control.
Jang-Myung Lee received his B.S. and M.S. in Electronic Engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and his Ph.D. in Computer Engineering from the University of Southern California (USC), Los Angeles, in 1990. Since 1992, he has been a professor with the Intelligent Robot Laboratory, Pusan National University, Busan, Korea. His current research interests include intelligent robotic systems, ubiquitous ports, and intelligent sensors. Dr. Lee is a past president of the Korean Robotics Society, and a vice president of ICROS. He is also the head of National Robotics Research Center, SPENALO.
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Han, SI., Lee, JM. Adaptive fuzzy backstepping dynamic surface control for output-constrained non-smooth nonlinear dynamic system. Int. J. Control Autom. Syst. 10, 684–696 (2012). https://doi.org/10.1007/s12555-012-0403-8
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DOI: https://doi.org/10.1007/s12555-012-0403-8