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
相关论文
共 50 条
  • [21] Fuzzy Adaptive Backstepping Control of Nonlinear Uncertain Systems With Unmeasured States and Input Saturation
    Hu, Kai-Yu
    Yusuf, Aaly
    Cheng, Zian
    IEEE ACCESS, 2020, 8 : 228442 - 228453
  • [22] Terminal adaptive control for a class of uncertain underactuated systems
    Kulkarni, A.
    Kumar, A.
    SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES, 2019, 44 (09):
  • [23] Adaptive Backstepping Control for Integrated Guidance and Control Design with Input Constraints
    Liang, Xiaoling
    Liu, Yancheng
    Ding, Tiancheng
    Lu, Hengyu
    2016 31ST YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC), 2016, : 37 - 42
  • [24] Adaptive Robust Control for Uncertain Underactuated Mechanical Systems
    Zhang, Jiale
    Jiao, Shengjie
    Yi, Xiaogang
    Wu, Chenguang
    ADVANCED THEORY AND SIMULATIONS, 2023, 6 (09)
  • [25] Terminal adaptive control for a class of uncertain underactuated systems
    A Kulkarni
    A Kumar
    Sādhanā, 2019, 44
  • [26] Comments on "Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints"
    Zou, An-Min
    de Ruiter, Anton H-J.
    Kumar, Krishna Dev
    AUTOMATICA, 2019, 100 : 417 - 418
  • [27] Adaptive Tracking Control for a Class of Uncertain MIMO Nonlinear Systems with Input Constraints
    Feng, Xingkai
    Wang, Congqing
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2025, 111 (01)
  • [28] Adaptive Neural Control of Uncertain MIMO Nonlinear Systems With State and Input Constraints
    Chen, Ziting
    Li, Zhijun
    Chen, C. L. Philip
    IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2017, 28 (06) : 1318 - 1330
  • [29] Wavelet Based Adaptive Tracking Control for Uncertain Nonlinear Systems with Input Constraints
    Sharma, M.
    Kulkarni, A.
    Puntambekar, S.
    2009 INTERNATIONAL CONFERENCE ON ADVANCES IN RECENT TECHNOLOGIES IN COMMUNICATION AND COMPUTING (ARTCOM 2009), 2009, : 694 - 698
  • [30] Adaptive backstepping control for uncertain semiconductor refrigeration systems considering even-order input
    Wang, Yecong
    Liu, Jiapeng
    Yu, Jinpeng
    Yang, Peng
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2024, 361 (07):
12345