Adaptive robust backstepping in a sliding mode for a nonlinear electromechanical object in conditions of parametric uncertainty and unknown external disturbances

The paper considers the issues of improving the quality and speed of motion control of complex moving electromechanical plants in conditions of parametric uncertainty and unknown external disturbances. A nonlinear mathematical model of the plant is being designed, which makes it possible to organize comprehensive studies of the modes of adaptive robust nonlinear systems. The difficulties associated with the violation of coordination are partially removed using the backstepping method, enhanced by the capabilities provided by the sliding mode method, which is used to compensate for external disturbances. The effectiveness of the proposed combination of backstepping and sliding mode methods is confirmed by the use of MatLab Simulink software.

Authors: E. V. Ilatovskaya, Duy Khanh Nguyen, V. V. Putov, D. M. Filatov

Direction: Electrical Engineering

Keywords: adaptive robust backstepping, sliding mode, Lyapunov function, parametric uncertainty, unknown external disturbances

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