کنفرانس مهندسی برق ایران

صفحه اصلی / سی امین کنفرانس بین المللی مهندسی برق

Backstepping-based Adaptive Constrained Control of Passive Torque Simulator Using Function Approximation Technique

نویسندگان :

Seyyed Amirhossein Saadat¹ Mohammad Mehdi Fateh² Javad Keighobadi³

1- دانشگاه صنعتی شاهرود 2- دانشگاه صنعتی شاهرود 3- دانشگاه صنعتی شاهرود

کلمات کلیدی :

Backstepping algorithm،passive torque simulator،output constraint،function approximation technique،barrier Lyapunov function

چکیده :

This paper attempts to propose a backstepping-based adaptive constrained control law for an uncertain passive torque simulator (PTS) system subject to the output constraint. To approximate unknown terms, including system dynamics and external disturbance, a function approximation technique is employed. Furthermore, a barrier Lyapunov function is used to obtain the control signal for the system. The stability of the closed-loop system is recursively confirmed while the tracking error is confined within the predefined bounds during operation. The robust behavior, fast learning speed, satisfactory estimation and the prespecified performance are the main properties of the proposed controller for PTS. Different cases are studied to evaluate the effectiveness of the proposed controller in terms of simulation. Moreover, a comparison with a related work is also added to highlight the superiority of the proposed idea.