Title: Backstepping-based adaptive control for underactuated systems

Authors: A. Kulkarni; A. Kumar

Addresses: Electronics and Instrumentation Department, Medicaps Institute of Technology and Management, Indore 453331, India ' School of Electronics, Devi Ahilya University, Indore 452001, India

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.

Keywords: backstepping control; adaptive control; wavelet neural networks; underactuated systems; system uncertainties; simulation.

DOI: 10.1504/IJSCIP.2015.075878

International Journal of System Control and Information Processing, 2015 Vol.1 No.4, pp.340 - 352

Received: 04 Jun 2014
Accepted: 20 Jan 2015

Published online: 12 Apr 2016 *

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