Adaptive backstepping control for uncertain underactuated systems with input constraints

被引：6
作者：
Kulkarni, A. [1 ]
Kumar, A. [2 ]
机构：
[1] Medicaps Inst Technol & Management, Indore, India
[2] Sch Elect DAVV, Indore, India
来源：
INTERNATIONAL CONFERENCE ON MODELLING OPTIMIZATION AND COMPUTING | 2012年 / 38卷
关键词：
Backstepping control; adaptive control; wavelet networks; underactuated systems; actuator constraints; NEURAL-NETWORK CONTROL;
D O I：
10.1016/j.proeng.2012.06.126
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
Considering a class of underactuated systems with functional uncertainties, an adaptive backstepping controller is presented. By applying backstepping control strategy and online approximation of uncertainties with wavelet networks, the desired tracking performance in presence of actuator constraints is assured. Singularity due to adaptation is tackled by incorporating a switching scheme. Proposed controller guarantees the ultimate upper boundedness of all closed loop signals. Effectiveness of proposed scheme is illustrated through simulation. (C) 2012 Published by Elsevier Ltd. Selection and/or peer-review under responsibility of Noorul Islam Centre for Higher Education
引用
收藏
页码：1001 / 1010
页数：10
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