Adaptive Backstepping Control for Uncertain Underactuated Systems with Input Constraints

AbstractConsidering a class of underactuated systems with functional uncertainties, an adaptive backstepping controller is presented. By applying backstepping control strategy and online approximation of uncertainties with wavelet networks, the desired tracking performance in presence of actuator constraints is assured. Singularity due to adaptation is tackled by incorporating a switching scheme. Proposed controller guarantees the ultimate upper boundedness of all closed loop signals. Effectiveness of proposed scheme is illustrated through simulation