Adaptive Wavelet Backstepping Control for a Class of MIMO Underactuated Systems
نویسنده
چکیده
This paper presents an adaptive backstepping controller for a class of multi input multi output (MIMO) underactuated system, with uncertain dynamics, in its original nonsquare form. The proposed controller combines a wavelet based backstepping controller and a robust control term to obtain the desired tracking performance. Proposed scheme utilizes the concept of regularized inverse for effective decoupling of subsystems. Uncertain system dynamics is estimated by using wavelet network. The wavelet parameters are tuned online using Lyapunov approach. The overall control scheme guarantees the ultimate upper boundedness of all closed loop signals. Finally a simulation study is carried out to demonstrate the effectiveness of proposed control scheme.
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