Backstepping-based adaptive control for underactuated systems. (2015)

• Record Type: Journal Article
• Authors: Kulkarni, A.; Kumar, A.
• Is Part Of: International journal of system control and information processing. Volume 1:Number 4(2015)
• Page Start: 340
• Page End: 352
• Publication Date: 2015
• Subjects: backstepping control -- adaptive control -- wavelet neural networks -- underactuated systems -- system uncertainties -- simulation; System design -- Data processing -- Periodicals; Information technology -- Periodicals; 003.5
• Languages: English
• ISSNs: 1759-9334

Abstract

A backstepping-based adaptive control scheme is presented for uncertain underactuated systems. On the basis of backstepping approach, virtual control components are first constructed and final control term is then derived by defining an integrated error surface. Proposed control scheme utilises wavelet neural network for the approximation of system uncertainties and thus relaxes the constraint of fully known system dynamics. Update laws for wavelet network parameters are derived in Lyapunov sense. Proposed control scheme guarantees the uniform ultimate boundedness of the closed loop adaptive system. Simulation included illustrates the effectiveness of the proposed approach.