Backstepping-based adaptive control for underactuated systems

Kulkarni, Ajay; Kumar, Abhay

doi:10.1504/ijscip.2015.075878

Cited by 4 publications

(7 citation statements)

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“…Points are awarded for long jumps and difficult places to reach. So, there are several approaches for awarding system such as [15].…”

Section: Related Workmentioning

confidence: 99%

A design and implementation of a framework for games in IoT

Kim

2017

J Supercomput

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Interconnection of the sensing and actuating devices providing the ability to share information across platform through a unified framework for enabling innovative applications. This is achieved by seamless ubiquitous sensing, data analytics and information representation as the unifying framework. Extending the current internet with interconnected objects and devices and their virtual representation has been a growing trend in recent years. Internet of Things (IoT) services are becoming a popular services. This will be supported challenges in a large of aspects such as smart health, green energy, smart home and personalized applications. So, the IoT plays more and more important issue in lifestyle through entertainment such as Games. As of yet, there has not been much research done on IoT environment games as a service. In this paper, we propose schemes of the design and implantation of IT convergence framework for games as a service of IoT. First of all, we discussed what to consider when design and implementation of IT convergence framework for games through contents using user's mobile devices and various sensors in IoT environment and suggest related techniques. Then, we showed the possibility of games in the IoT environment by creating games and measuring the interactions of users in the IoT environment.

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“…Points are awarded for long jumps and difficult places to reach. So, there are several approaches for awarding system such as [15].…”

Section: Related Workmentioning

confidence: 99%

A design and implementation of a framework for games in IoT

Kim

2017

J Supercomput

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“…Systems like twin rotor systems, underwater vehicles, robotic systems, cart pole and others belong to this category [17,18]. Issues like controllability, existence and consequent designing of control terms for the concurrent control of all the degrees of freedom have been addressed by several researchers [17][18][19][20][21][22][23][24][25][26][27][28][29][30][31][32]. Several research findings emphasize on the development of control term using hierarchical methodology due to its flexible, effective and simplified approach.…”

Section: Introductionmentioning

confidence: 99%

“…The process is further carried out by recursively considering the rest of the system components and hence redefining the Lyapunov function with suitable increment and the corresponding pseudo-control term to stabilize it. This process ultimately terminates with the development of actual control term, which ensures the stability of entire system [31][32][33][34]. As backstepping is a model-based approach, its classical approach demands completely and accurately known system dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…However, the classical version can be extended to adaptive version, which relaxes the aforementioned constraint on the system dynamics. These adaptive versions are developed by aggregating some adaptive approximation tools like fuzzy logic or neural network for the estimation of uncertain system dynamics [31][32][33]. Due to the physical restrictions associated with underactuated systems, classical structure of the backstepping methodology is not applicable to the concerned class of nonlinear systems without applying any nonlinear coordinate transformation.…”

Section: Introductionmentioning

confidence: 99%

“…Due to the physical restrictions associated with underactuated systems, classical structure of the backstepping methodology is not applicable to the concerned class of nonlinear systems without applying any nonlinear coordinate transformation. However, an approximate version of backstepping controller has been cited in the literature [31,32]. This approach defines an error term by linearly combining the velocity variables of the system.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Terminal adaptive control for a class of uncertain underactuated systems

Kulkarni

Kumar

2019

Sādhanā

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This paper presents a backstepping-based terminal adaptive control solution for a class of uncertain underactuated systems with two degrees of freedom. The control scheme developed in this work is based on the finite time stability approach for the terminal convergence of system outputs. Due to the physical restrictions associated with underactuated systems, classical backstepping approach is not applicable to this class of nonlinear systems and hence an approximate version is developed by designing a suitable error surface. Control term is developed in two steps: first, non-singular pseudo-control terms are developed for the dimensions of the configuration space and thereafter a feasible control term is designed to ensure the finite time convergence of error surface. The error surface is designed such that its finite time convergence in turn implies the terminal convergence of configuration variables. To ensure a well-defined control term over the entire state space, control components are embedded with corrective terms. Corrective terms are designed so as to avoid the singularity of the control term and to preserve the desired controller response up to certain extent. A fuzzy logic system is used for the approximation of unknown systems dynamics. Simulation results demonstrate the effectiveness of the control approach.

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