Optimal robust guaranteed cost backstepping control for multi-motor driving system

Minlin Wang; Xuemei Ren; Tianyi Zeng

doi:10.1007/978-981-13-2291-4_76

Optimal robust guaranteed cost backstepping control for multi-motor driving system

Minlin Wang, Xuemei Ren^*, Tianyi Zeng

^*Corresponding author for this work

School of Automation

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

1 Citation (Scopus)

Abstract

This paper proposes an optimal robust guaranteed cost backstepping control for the multi-motor driving system with parameter uncertainties. First, the state representation of the multi-motor driving system with parameter uncertainties is established, and a feedforward controller is designed based on the backstepping control technique. Then, based on the feedforward control, an optimal robust guaranteed cost feedback controller is designed to achieve the asymptotically stability of the error system. The proposed controller not only can increase the system robustness to the parameter uncertainties, but also can make the cost function limited by a certain upper bound. Lyapunov theory proves the stability of the control system. Finally, simulation results based on a four-motor driving system demonstrate the effectiveness of the proposed control scheme.

Original language	English
Title of host publication	Lecture Notes in Electrical Engineering
Publisher	Springer Verlag
Pages	785-795
Number of pages	11
DOIs	https://doi.org/10.1007/978-981-13-2291-4_76
Publication status	Published - 2019

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	529
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Keywords

Backstepping control
Multi-motor driving system
Optimal robust guaranteed cost
Parameter uncertainties

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10.1007/978-981-13-2291-4_76

Cite this

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abstract = "This paper proposes an optimal robust guaranteed cost backstepping control for the multi-motor driving system with parameter uncertainties. First, the state representation of the multi-motor driving system with parameter uncertainties is established, and a feedforward controller is designed based on the backstepping control technique. Then, based on the feedforward control, an optimal robust guaranteed cost feedback controller is designed to achieve the asymptotically stability of the error system. The proposed controller not only can increase the system robustness to the parameter uncertainties, but also can make the cost function limited by a certain upper bound. Lyapunov theory proves the stability of the control system. Finally, simulation results based on a four-motor driving system demonstrate the effectiveness of the proposed control scheme.",

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AB - This paper proposes an optimal robust guaranteed cost backstepping control for the multi-motor driving system with parameter uncertainties. First, the state representation of the multi-motor driving system with parameter uncertainties is established, and a feedforward controller is designed based on the backstepping control technique. Then, based on the feedforward control, an optimal robust guaranteed cost feedback controller is designed to achieve the asymptotically stability of the error system. The proposed controller not only can increase the system robustness to the parameter uncertainties, but also can make the cost function limited by a certain upper bound. Lyapunov theory proves the stability of the control system. Finally, simulation results based on a four-motor driving system demonstrate the effectiveness of the proposed control scheme.

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KW - Multi-motor driving system

KW - Optimal robust guaranteed cost

KW - Parameter uncertainties

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Optimal robust guaranteed cost backstepping control for multi-motor driving system

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