Title :
Design of nonlinear state feedback control law for underactuated TORA system: A block backstepping approach
Author :
Rudra, Shubhobrata ; Barai, Ranjit kumar ; Maitra, Madhubanti ; Mandal, Dharmadas ; Dam, Shimul ; Ghosh, Somsubhra ; Bhattacharyya, Prarthna ; Dutta, Arka
Author_Institution :
Electrical Engineering Department, Jadavpur University, Kolkata-700032, India
Abstract :
This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for the well-known nonlinear benchmark TORA system. The ideas behind the method are as follows. At first, state model of the TORA system has been converted into block-strict feedback form. Then the control Lyapunov function has been designed for each cascaded dynamic block to derive the expression of the control input for the overall nonlinear system. The overall asymptotic stability of the TORA system has been analyzed using Lyapunov Stability Criteria. Finally, the effectiveness of the proposed control algorithm has been verified in the simulation environment.
Keywords :
Rotors; Block Backstepping Control; Lyapunov Stability Criteria; TORA System; Underactuated System;
Conference_Titel :
Intelligent Systems and Control (ISCO), 2013 7th International Conference on
Conference_Location :
Coimbatore, Tamil Nadu, India
Print_ISBN :
978-1-4673-4359-6
DOI :
10.1109/ISCO.2013.6481129
