Title: Backstepping Controller Design Based on Nonlinear Control Theories


Abstract: This keynote presents a backstepping controller design framework based on nonlinear control theories. The concept can be applied for several types of normal robots and mobile robots with manipulator. The approach uses a constructive Lyapunov function and the well-known backstepping concept which allows the formulation of a control law with asymptotic stability of the equilibrium point of the system and a computable stability region. Description of the control law is complemented by the stability analysis of the closed loop dynamics of the system. As a practical example, a mobile robot manipulator is given. The control laws are obtained based on backstepping technique and make the tracking error vectors for the end-effector of manipulator go to zero asymptotically. The controller of the dynamic model is designed for the mobile platform to move so that the manipulator tracks the desired posture without its singularity based on a tracking error vector between a target point and a real point of the end-effector. The system stability is proved using the Lyapunov stability theory. The several paper results are introduced to illustrate the usefulness of the proposed control scheme based on the nonlinear theoretical concept.


Emeritus Prof. Dr. Eng. Sang Bong Kim received his Bachelor/Master degrees of Engineering in Mechanical Engineering from Pukyong National University, Korea, in 1978/1980 and Doctor of Engineering in Control Engineering from Tokyo Institute of Technology, Japan, 1988, respectively. He has served as a professor of the Department of Mechanical Automotive Engineering of Pukyong National University(PKNU), Korea. His current interests are in the field of Mobile Robots, Manipulators and Sensorless Vector Control of Inverter, etc. He has published more than 600 papers appeared in various journals and international conference proceedings.


Research Interests:
Major aims of my research is to theoretically construct various control algorithms such as robust control, nonlinear adaptive control, sliding mode control etc., and to verify the effectiveness of those methods for industrial application fields. 
Control Theory: Linear Control, Nonlinear Control, Robust Control, Adaptive Control, Advanced Motion Control, Mobile Robots and Manipulators, Automated Guided Vehicles based on Laser Sensor, Sensorless Vector Control of Inverter.

Academic Research Results until Retirement:
- Published Papers: 169
- (Int. J. : 95 papers, Others: 74)
- Projects: 123
- Proceedings: 483
- Patents: 34, 
- Books: 15
- Technology transfers: 4
- Exhibition presentations: 5
Total: 833

AETA 2023

The 8th International Conference on Advanced Engineering - Theory and Applications