Adaptive Control Solution for a Class of MIMO Uncertain Underactuated Systems with Saturating Inputs
Journal Title: International Journal of Intelligent Systems and Applications in Engineering - Year 2016, Vol 4, Issue 4
Abstract
This paper addresses the issue of controller design for a class of multi-input multi-output (MIMO) uncertain underactuated systems with saturating inputs. A systematic controller framework, composed of a hierarchically generated control term, meant to ensure the stabilization of a particular portion of system dynamics and some dedicated control terms designed to solve the tracking problem of the remaining system dynamics is presented. Wavelet neural networks are used as adaptive tuners to approximate the system uncertainties also to reshape the control terms so as to deal with the saturation nonlinearity in an antiwindup paradigm. Gradient based tuning laws are developed for the online tuning of adjustable parameters of the wavelet network. A Lyapunov based stability analysis is carried out to ensure the uniformly ultimately bounded (UUB) stability of the closed loop system. Finally, a simulation is carried out which supports the theoretical development.
Authors and Affiliations
Ajay Kulkarni*| Medicaps Institute of Technology and Management, Indore, India, Abhay Kumar| School of Electronics, DAVV, Indore, India
Keywords
Related Articles
- EP ID EP812
- DOI 10.18201/ijisae.2016426385
- Views 521
- Downloads 25
Solution for the Travelling Salesman Problem with a Microcontrollerbased Instantaneous System
The travelling salesman problem (TSP) is one of the most frequently researched combinational optimization problems. Despite its trivial definition, the problem is very difficult to solve. Therefore, it is categorized as...
SVM-Based Sleep Apnea Identification Using Optimal RR-Interval Features of the ECG Signal
Sleep apnea (SA) is the most commonly known sleeping disorder characterized by pauses of airflow to the lungs and often results in day and night time symptoms such as impaired concentration, depression, memory loss, snor...
Rainfall Runoff Modelling Using Generalized Neural Network and Radial Basis Network
Rainfall runoff study has a wide scope in water resource management. To provide a reliable prediction model is of paramount importance. Runoff prediction is carried out using generalized regression neural network and rad...
A Low Cost Single Board Computer Based Mobile Robot Motion Planning System for Indoor Environments
In this study, a low cost, flexible and modular structure is proposed for mobile robot motion planning systems in an indoor environment with obstacles. In this system, the mobile robot has to follow the shortest path to...
Power System Contingency Ranking using Fuzzy Logic Based Approach
Voltage stability is a major concern in planning and operations of power systems. It is well known that voltage instability and collapse have led to major system failures. Modern transmission networks are more heavily lo...