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Avtomatika i Telemekhanika, 2016, Issue 9, Pages 70–83 (Mi at14550)  
This article is cited in 9 scientific papers (total in 9 papers)

Nonlinear Systems

Modified backstepping algorithm for nonlinear systems

I. B. Furtatab, E. A. Tupichinab

a Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, St. Petersburg, Russia
b ITMO University, St. Petersburg, Russia
Full-text PDF (1816 kB) Citations (9)
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Abstract: Based on the backstepping method, this paper proposes a robust control algorithm for nonlinear plants under parametric uncertainty and external bounded disturbances. The algorithm ensures tracking of the plant output to a smooth reference signal with a required accuracy in the steady-state mode. In comparison with the existing analogs, control system implementation requires only one filter of dimension coinciding with the plant relative degree and observers used for calculation of the stabilizing and basic control laws. This feature considerably simplifies the control scheme and calculation of its parameters. And finally, simulation results illustrating the performance of this scheme are given.
Funding agency Grant number
Ministry of Education and Science of the Russian Federation МД-6325.2016.8
14.Z50.31.0031
074-U01
02.G25.31.0111
The results of Section 3 (control algorithm development) were obtained under support of the Presidential grant of the Russian Federation, contract no. 14.W01.16.6325-MD (MD-6325.2016.8). Other investigations in this work were supported in part by the Ministry of Education and Science of the Russian Federation, project no. 14.Z50.31.0031, the Governmental grant of the Russian Federation, project no. 074-U01, subsidy within contract no. 02.G25.31.0111 dated August 14, 2014 (Governmental order no. 218 dated April 9, 2010).
Presented by the member of Editorial Board: A. I. Malikov

Received: 12.01.2015
English version:
Automation and Remote Control, 2016, Volume 77, Issue 9, Pages 1567–1578
DOI: https://doi.org/10.1134/S0005117916090058
Bibliographic databases:
Document Type: Article
Language: Russian
Citation: I. B. Furtat, E. A. Tupichin, “Modified backstepping algorithm for nonlinear systems”, Avtomat. i Telemekh., 2016, no. 9, 70–83; Autom. Remote Control, 77:9 (2016), 1567–1578
Citation in format AMSBIB
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\pages 70--83
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\pages 1567--1578
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    • This publication is cited in the following 9 articles:
    Citing articles in Google Scholar: Russian citations, English citations
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