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Keywords: backstepping
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Journal Articles
Article Type: Research-Article
J. Dyn. Sys., Meas., Control. September 2019, 141(9): 091003.
Paper No: DS-18-1522
Published Online: April 9, 2019
...Jingwen Huang; Tingting Zhang; Jian-Qiao Sun This paper studies control problems of underactuated mechanical systems with model uncertainties. The control is designed with the method of backstepping. The first-order low-pass filters are used to estimate the unknown quantities and to avoid...
Journal Articles
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. November 2009, 131(6): 061001.
Published Online: October 21, 2009
... the desired values of the intermediate state variables for perfect output tracking of a known desired trajectory cannot be predetermined. A novel way of formulating desired compensation concept is proposed and a DCARC backstepping design is developed to overcome the design difficulties associated...
Journal Articles
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. July 2009, 131(4): 041003.
Published Online: April 29, 2009
... model. Their weights are adapted in real time and from scratch, which means we do not need the mathematical model of the robot in our control algorithm. All uncertainties are handled by variable-structure control. Backstepping structure allows input efforts to be applied to each subsystem where...
Journal Articles
Article Type: Technical Papers
J. Dyn. Sys., Meas., Control. September 2005, 127(3): 478–485.
Published Online: June 24, 2004
... the backstepping technique with H ∞ control design, an adaptive neural controller is synthesized to attenuate the effect of approximation errors and guarantee an H ∞ tracking performance for the closed-loop system. In this work, the structural property of the system is utilized to synthesize the controller...