Robust Control Design of Nonlinear System via Backstepping-PSO with Sliding Mode Techniques

This research focus on designing controller for nonlinear system by integration of two robust controllers, back-stepping and sliding mode controller. The dynamics of the system is developed by consider its nonlinearities incorporating external disturbance injected to the system’s actuator. The value of control and reaching law parameters are determined by using particle swarm optimization method such that these parameters are varying automatically according to the changes of the dynamics of the system. The tracking performance of the system yielded by integration of back-stepping and sliding mode controller is compared with its output performance produced by classical sliding mode controller. The results show that assimilation of back-stepping and sliding mode controller for the chosen system generates better performance than sliding mode controller itself which is evaluated in terms of tracking output and tracking error.