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All Journal International Journal of Electrical and Computer Engineering TELKOMNIKA (Telecommunication Computing Electronics and Control)
Abdul Rashid Husain
Universiti Teknologi Malaysia
Computer Science & IT Electrical & Electronics Engineering

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New robust bounded control for uncertain nonlinear system using mixed backstepping and lyapunov redesign Muhammad Nizam Kamarudin; Sahazati Md. Rozali; T. Sutikno; Abdul Rashid Husain
International Journal of Electrical and Computer Engineering (IJECE) Vol 9, No 2: April 2019
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (466.482 KB) | DOI: 10.11591/ijece.v9i2.pp1090-1099

Abstract

This paper presents a new robust bounded control law to stabilize uncertain nonlinear system with time varying disturbance. The design idea comes from the advantages of backstepping with Lyapunov redesign, which avoid the needs of fast switching of discontinuous control law offered by its counterpart - a variable structure control. We reduce the conservatism in the design process where the control law can be flexibly chosen from Lyapunov function, hence avoiding the use of convex optimization via linear matrix inequality (LMI) in which the feasibility is rather hard to be obtained. For this work, we design two type control algorithms namely normal control and bounded control. As such, our contribution is the introduction of a new bounded control law that can avoid excessive control energy, high magnitude chattering in control signal and small oscillation in stabilized states. Computation of total energy for both control laws confirmed that the bounded control law can stabilize with less enegry consumption. We also use Euler's approximation to compute average power for both control laws. The robustness of the proposed controller is achieved via saturation-like function in Lyapunov redesign, and hence guaranting asymptotic stability of the closed-loop system.
Robust Backstepping Tracking Control of Mobile Robot Based on Nonlinear Disturbance Observer Mahmood Ali Moqbel Obaid; Abdul Rashid Husain; Ali Abdo Mohammed Al-kubati
International Journal of Electrical and Computer Engineering (IJECE) Vol 6, No 2: April 2016
Publisher : Institute of Advanced Engineering and Science

Show Abstract | Download Original | Original Source | Check in Google Scholar | Full PDF (42.382 KB) | DOI: 10.11591/ijece.v6i2.pp901-908

Abstract

This paper presents a robust backstepping control (BC) method based on nonlinear disturbance observer (NDOB) for trajectory tracking of the nonholonomic wheeled mobile robot (WMR) in the presence of external disturbances and parameters uncertainties. At first, a bounded Fuzzy logic based backstepping controller (BFLBC) is designed to control the WMR without considering the effects of the external disturbances and the parameters uncertainties. Typically, the conventional BC controller depends upon the state tracking errors analysis, where unbounded velocity signal is produced for the applications that have huge tracking errors. Therefore, a fuzzy logic controller (FLC) is introduced in this research in order to normalize the state tracking errors, so that the input errors to the BC are bounded to a finite interval. Finally, the designed BFLBC is integrated with the nonlinear disturbance observer in order to attenuate the external disturbances and model uncertainties. The simulation results show the effectiveness of the proposed controller to generate a bounded velocity signal as well as to stabilize the tracking errors to zero. In addition, the results prove that the proposed controller provide an excellent disturbance attenuation as well as robustness against the parameters uncertainties.
Dynamic Model and Robust Control of Flexible Link Robot Manipulator Mohammad Khairudin; Zaharuddin Mohamed; Abdul Rashid Husain
TELKOMNIKA (Telecommunication Computing Electronics and Control) Vol 9, No 2: August 2011
Publisher : Universitas Ahmad Dahlan

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.12928/telkomnika.v9i2.698

Abstract

The problems of a flexible link manipulator are uncertainties and parametric nonlinearities. This paper presents design and development of a robust control based on linear quadratic regulator (LQR) for a flexible link manipulator.  System performances were evaluated in terms of input tracking capability of hub angular position response, end-point displacement, end-point residual and hub velocity. For the controller of the system, LQR was developed to solve flexible link robustness and input tracking capability of hub angular position. The results achieved by the proposed controller are compared with conventional PID, to substantiate and verify the advantages of the proposed scheme and its promising potential in control of a flexible link manipulator. The robust control presented faster settling time and smaller overshoot responses and tracking performances of the proposed controller compared with PID controllers.
Co-Authors Ali Abdo Mohammed Al-kubati Mahmood Ali Moqbel Obaid Moh. Khairudin Muhammad Nizam Kamarudin Sahazati Md. Rozali T. Sutikno Zaharuddin Mohamed