Discrete-Time Backstepping Control for Underactuated Mechanical System with a Novel Coordinate Transformation

Adıgüzel, Fatih; Yalçın, Yaprak

doi:10.1109/ceit.2018.8751777

Cited by 2 publications

(3 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Note that the primary results of this article are given in a conference paper. 35 In the conference paper, 35 we presented a coordinate transformation that enables design of a backstepping controller where the underactuated coordinates are derived to desired operating points but actuated coordinates are assumed to be free, namely, it does not allow to control all the coordinates. On the contrary, in a journal paper, 36 we have mainly addressed the adaptive disturbance attenuation.…”

Section: Introductionmentioning

confidence: 99%

“…On the contrary, in a journal paper, 36 we have mainly addressed the adaptive disturbance attenuation. Nevertheless, we used a special case of the coordinate transform given in Adigu¨zel and Yalc xn 35 to be able to construct a discretetime backstepping controller. In this article, we propose a more general coordinate transformation that allows backstepping controller design to derive both actuated and underactuated coordinates to desired equilibrium points and showed that closed-loop system dynamics are globally asymptotically stable.…”

Section: Introductionmentioning

confidence: 99%

“…A preliminary version of this study was presented in a conference paper by Adigüzel and Yalçn 35 at the 6th International Conference on Control Engineering & Information Technology on 25–27 October 2018.…”

mentioning

confidence: 99%

See 2 more Smart Citations

Backstepping control for a class of underactuated nonlinear mechanical systems with a novel coordinate transformation in the discrete-time setting

Adıgüzel

Yalçın

2022

Proceedings of the Institution of Mechanical Engineers, Part I:

View full text Add to dashboard Cite

In this technical note, a combined discrete-time controller, consisting of a partial feedback linearization controller and a backstepping controller, is proposed to manage the stabilization for a class of underactuated nonlinear mechanical systems. The traditional backstepping control method is impracticable to directly apply it to underactuated systems since they are generally not in the lower triangular form. First, a feedback controller that partially linearizes the underactuated mechanical systems is derived to facilitate the backstepping controller design. In the design, discrete-time system dynamics obtained utilizing the Euler approximation are considered. Afterward, a novel coordinate transformation is introduced for a class of underactuated systems that transform the mathematical model of the partially linearized underactuated mechanical systems into the strict-feedback form. After these steps, the conventional backstepping approach is structured in discrete-time setting. The stability of the closed-loop system dynamics with the proposed combined discrete-time controller is shown utilizing Lyapunov theory. Several computer-based simulations are executed to depict the performance and the applicability of the proposed method on the Cart–Pole system and the Inertia Wheel Pendulum. Moreover, the effectiveness of the proposed nonlinear controller is verified by numerical simulation results in comparison with a discrete-time chattering-free sliding-mode controller.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%