Switched step integral backstepping control for nonlinear motion systems with application to a laboratory helicopter

Haruna A., Mohamed Z., EFE M. Ö., Abdullahi A.

ISA Transactions, cilt.141, ss.470-481, 2023 (SCI-Expanded) identifier identifier

  • Yayın Türü: Makale / Tam Makale
  • Cilt numarası: 141
  • Basım Tarihi: 2023
  • Doi Numarası: 10.1016/j.isatra.2023.07.002
  • Dergi Adı: ISA Transactions
  • Derginin Tarandığı İndeksler: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Applied Science & Technology Source, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC
  • Sayfa Sayıları: ss.470-481
  • Anahtar Kelimeler: Backstepping, Energy efficiency, Nonlinear control, Switched control, Twin rotor
  • Hacettepe Üniversitesi Adresli: Evet

Özet

In this paper, the energy efficiency of the widespread application of backstepping control to a class of nonlinear motion systems is investigated. A Switched Step Integral Backstepping Control (SSIBC) scheme is introduced to improve immunity to measurement noise and to increase the energy efficiency of conventional backstepping in practice. The SSIBC is realized by switching between two candidate controllers obtained at different steps of the iterative backstepping design process. A bi-state dependent hysteresis rule is developed to supervise stable switching between the different regimes in the presence of noise. The proposed method is experimentally verified on a MIMO twin rotor laboratory helicopter involving coupled nonlinear dynamics, inaccessible states and uncertainties. Experimental results show that in addition to a reduction in power consumption, the SSIBC reduces saturation of the control signal and visible motor jerking in contrast with conventional backstepping. Additional comparisons with a previously proposed optimized decoupling PID controller also show significant improvement in precision achieved with higher energy efficiency. Experimental results obtained with the introduction of an external disturbance into the system also show the robustness of the proposed SSIBC.