Backstepping-based adaptive control for underactuated systems

A. Kulkarni; A. Kumar

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Backstepping-based adaptive control for underactuated systems

机译：欠驱动系统的基于Backstepping的自适应控制

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摘要

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.

机译：针对不确定的欠驱动系统，提出了一种基于反推的自适应控制方案。在后推方法的基础上，首先构建虚拟控制组件，然后通过定义集成的误差面来得出最终控制项。提出的控制方案利用小波神经网络来逼近系统不确定性，从而放松了众所周知的系统动力学的约束。小波网络参数的更新定律是从李雅普诺夫意义上推导出来的。所提出的控制方案保证了闭环自适应系统的一致的最终有界性。仿真包括了所提出方法的有效性。

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来源
《International journal of system control and information processing》 |2015年第4期|共13页
作者
A. Kulkarni; A. Kumar;
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原文格式 PDF
正文语种 eng
中图分类自动化技术、计算机技术;
关键词
Backstepping control; Adaptive control; Wavelet neural network; Underactuated systems;

机译：反步控制;自适应控制;小波神经网络;欠驱动系统;

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1. Backstepping-based adaptive control for underactuated systems [J] . A. Kulkarni, A. Kumar International journal of system control and information processing . 2015,第4期

机译：欠驱动系统的基于Backstepping的自适应控制
2. Backstepping-Based Adaptive Control for Nonlinear Systems with Actuator Failures and Uncertain Parameters [J] . Liu Wenhui, Xie Fei Circuits, systems, and signal processing . 2020,第1期

机译：基于BackStepping的致动器故障和不确定参数的非线性系统的自适应控制
3. Backstepping-Based Adaptive Fuzzy Synchronization Control for a Class of Fractional-Order Chaotic Systems with Input Saturation [J] . Ha Shumin, Liu Heng, Li Shenggang, International Journal of Fuzzy Systems . 2019,第5期

机译：一类输入饱和的分数阶混沌系统的基于Backstepping的自适应模糊同步控制
4. Backstepping-Based Adaptive Control for Uncertain Fractional-Order Nonlinear Systems [C] . Xinyao Li, Xiaolei Li, Lantao Xing IEEE Conference on Industrial Electronics and Applications . 2021

机译：基于BackStepping的不确定分数阶非线性系统的自适应控制
5. Direct adaptive control for underactuated mechatronic systems using fuzzy systems and neural networks: A Pendubot case. [D] . Al-Shibli, Murah Musa. 2002

机译：使用模糊系统和神经网络对欠驱动机电系统进行直接自适应控制：Pendubot案例。
6. Adaptive Neural Backstepping Sliding Mode Heading Control for Underactuated Ships with Drift Angle and Ship-Bank Interaction [O] . Xue Han 2020

机译：具有漂移角和船体交互的欠渎船的自适应神经背头滑动模式标题控制
7. Direct adaptive control for underactuated mechatronic systems using fuzzy systems and neural networks : a Pendubot case [O] . Al-Shibli Murad Musa 2002

机译：基于模糊系统和神经网络的欠驱动机电系统的直接自适应控制：Pendubot案例
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Backstepping-based adaptive control for underactuated systems

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