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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2409.02473 |
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| _version_ | 1866916381635641344 |
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| author | Abubakar, Abdulrazaq Nafiu Nasir, Ali Quamar, Md Muzakkir |
| author_facet | Abubakar, Abdulrazaq Nafiu Nasir, Ali Quamar, Md Muzakkir |
| contents | A control design for error reduction in the tracking control for a class of non-lower triangular nonlinear systems is presented by combining techniques of Variable Power Surface Error Function (VPSEF), backstepping, and dynamic surface control. At each step of design, a surface error is obtained, and based on its magnitude, the VPSEF technique decides the surface error to be used. Thus, the backstepping-based virtual and actual control law is designed to stabilize the corresponding subsystem. To address the issue of circular structure, a first-order low-pass filter is used to handle the virtual control signal at each intermediate stage of the recursive design. The stability analysis of the closed-loop system demonstrates that all signals indicate semi-global uniform ultimate boundedness. Moreover, by using the switching strategy of the control input using the VPSEF technique suitably, it is possible to ensure that the steady-state tracking error converges to a neighborhood of zero with an arbitrarily very small size. The effectiveness of the proposed concept has been verified using two different simulated demonstrations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2409_02473 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Variable Power Surface Error Function backstepping based Dynamic Surface Control of Non-Lower Triangular Nonlinear Systems Abubakar, Abdulrazaq Nafiu Nasir, Ali Quamar, Md Muzakkir Systems and Control A control design for error reduction in the tracking control for a class of non-lower triangular nonlinear systems is presented by combining techniques of Variable Power Surface Error Function (VPSEF), backstepping, and dynamic surface control. At each step of design, a surface error is obtained, and based on its magnitude, the VPSEF technique decides the surface error to be used. Thus, the backstepping-based virtual and actual control law is designed to stabilize the corresponding subsystem. To address the issue of circular structure, a first-order low-pass filter is used to handle the virtual control signal at each intermediate stage of the recursive design. The stability analysis of the closed-loop system demonstrates that all signals indicate semi-global uniform ultimate boundedness. Moreover, by using the switching strategy of the control input using the VPSEF technique suitably, it is possible to ensure that the steady-state tracking error converges to a neighborhood of zero with an arbitrarily very small size. The effectiveness of the proposed concept has been verified using two different simulated demonstrations. |
| title | A Variable Power Surface Error Function backstepping based Dynamic Surface Control of Non-Lower Triangular Nonlinear Systems |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2409.02473 |