Design of an Optimal Backstepping Controller for Nonlinear System under Disturbance

T. Rasheed, Luay; K. Hamzah, Mohammed

doi:10.30684/etj.v39i3A.1801

	Design of an Optimal Backstepping Controller for Nonlinear System under Disturbance
Engineering and Technology Journal
Article 11, Volume 39, 3A, 2021, Pages 465-476 PDF (1.77 M)
DOI: 10.30684/etj.v39i3A.1801
Authors
Luay T. Rasheed^* ¹; Mohammed K. Hamzah²
¹Control & Systems Eng. Dept.-University of Technology, Baghdad, Iraq, [email protected]
²Control & Systems Eng. Dept.-University of Technology, Baghdad, Iraq, [email protected]
Abstract
The aim of the work for this paper is the design of an optimal backstepping controller for a nonlinear pendulum system to stabilize the position of pendulum’s ball suspended in the desired position. The Cuckoo optimization algorithm (COA) has been utilized to get and tune the gain variables of the proposed backstepping controller in order to find the best torque action for the system. The numerical simulation results using (MATLAB package) show the robustness and the effectiveness of the proposed backstepping based COA controller in terms of obtaining the best torque control action without a saturation state that will stabilize the pendulum system performance. The simulation results show also that the proposed control system when compared with the other controller results has the capability of minimizing the pendulum’s ball position tracking error to the zero value at the steady state response and speeding up the system response. Moreover, the fitness evaluation value is reduced.
Keywords
Backstepping Controller; Cuckoo Optimization Algorithm (COA); Nonlinear Pendulum System

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