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Authors: D. E. Konovalov 1 ; S. A. Vrazhevsky 2 ; I. B. Furtat 2 and A. S. Kremlev 1

Affiliations: 1 Faculty of Control Systems and Robotics, ITMO University, Kronverksky av. 49, St. Petersburg and Russia ; 2 Faculty of Control Systems and Robotics, ITMO University, Kronverksky av. 49, St. Petersburg, Russia, The Laboratory “Control of Complex Systems”, Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), V.O. Bolshoi pr., 61, St. Petersburg and Russia

Keyword(s): Backstepping, Auxiliary Loop Method, Robust Control, Disturbance Observer, Output Control, Mismatched Disturbances.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Nonlinear Signals and Systems ; Real-Time Systems Control ; Signal Processing, Sensors, Systems Modeling and Control

Abstract: The article deals with a problem of output control for linear systems under unknown mismatched disturbances. This algorithm is based on the modified backstepping method and the auxiliary loop method. The proposed control scheme is a robust approach intended to unknown mismatched disturbances estimation and compensation. Efficiency of the method is verified by computer modelling and practical approbation of the algorithm using a laboratory platform called "Twin Rotor MIMO System".

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Paper citation in several formats:
Konovalov, D.; Vrazhevsky, S.; Furtat, I. and Kremlev, A. (2019). Output Control and Disturbances Compensation using Modified Backstepping Algorithm. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 517-522. DOI: 10.5220/0007918505170522

@conference{icinco19,
author={D. E. Konovalov. and S. A. Vrazhevsky. and I. B. Furtat. and A. S. Kremlev.},
title={Output Control and Disturbances Compensation using Modified Backstepping Algorithm},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2019},
pages={517-522},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007918505170522},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Output Control and Disturbances Compensation using Modified Backstepping Algorithm
SN - 978-989-758-380-3
IS - 2184-2809
AU - Konovalov, D.
AU - Vrazhevsky, S.
AU - Furtat, I.
AU - Kremlev, A.
PY - 2019
SP - 517
EP - 522
DO - 10.5220/0007918505170522
PB - SciTePress