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
  • [31] An enhanced backstepping approach for motion control of underactuated autonomous surface vessels with input constraints
    Dehghani, Reza
    Abedi, Esmaeil
    TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2018, 40 (08) : 2669 - 2680
  • [32] Simplified adaptive backstepping control for uncertain nonlinear systems with unknown input saturation and its application
    Liu, Jiapeng
    Chen, Xinkai
    Yu, Jinpeng
    CONTROL ENGINEERING PRACTICE, 2023, 139
  • [33] Adaptive Control Design for Uncertain Underactuated Cranes With Nonsmooth Input Nonlinearities
    Yang, Yue
    Ye, Xin
    Wen, Baoyu
    Huang, Jiangshuai
    Su, Xiaojie
    IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2023, 53 (02): : 1074 - 1083
  • [34] Adaptive Backstepping Stabilization of Nonlinear Uncertain Systems With Quantized Input Signal
    Zhou, Jing
    Wen, Changyun
    Yang, Guanghong
    IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2014, 59 (02) : 460 - 464
  • [35] Decoupled Adaptive Backstepping Sliding Mode Control of Underactuated Mechanical Systems
    Ata, Baris
    Coban, Ramazan
    CONTROL ENGINEERING AND APPLIED INFORMATICS, 2022, 24 (01): : 45 - 56
  • [36] State observer-based adaptive fuzzy backstepping point stabilisation control of underactuated unmanned surface vehicles with input constraints
    Zhou, Weixiang
    Zhou, Pingfang
    Chen, Zheng
    Duan, Dengping
    INTERNATIONAL JOURNAL OF VEHICLE DESIGN, 2020, 84 (1-4) : 162 - 179
  • [37] Transients Improvement in the Output-Feedback Adaptive Backstepping Control of Nonlinear Systems with Input Constraints
    Gerasimov, D.
    Suzdalev, O.
    Pashenko, A.
    Nikiforov, V.
    Podoshkin, D.
    IFAC PAPERSONLINE, 2023, 56 (02): : 6865 - 6870
  • [38] Adaptive Backstepping Control of Quadrotor UAVs with Output Constraints and Input Saturation
    Li, Jianming
    Wan, Lili
    Li, Jing
    Hou, Kai
    APPLIED SCIENCES-BASEL, 2023, 13 (15):
  • [39] Adaptive Hierarchical Control for a Class of MIMO Uncertain Underactuated Systems
    Kulkarni, A.
    Kumar, A.
    2014 IEEE INTERNATIONAL CONFERENCE ON COMPUTATIONAL INTELLIGENCE AND COMPUTING RESEARCH (IEEE ICCIC), 2014, : 314 - 321
  • [40] Backstepping Control for a Class of Delayed Nonlinear Systems with Input Constraints
    Kulkarni, A.
    Purwar, S.
    PROCEEDINGS OF THE INDICON 2008 IEEE CONFERENCE & EXHIBITION ON CONTROL, COMMUNICATIONS AND AUTOMATION, VOL I, 2008, : 274 - 279
12345