| contributor author | Huang, Jingwen | |
| contributor author | Zhang, Tingting | |
| contributor author | Sun, Jian-Qiao | |
| date accessioned | 2019-09-18T09:05:24Z | |
| date available | 2019-09-18T09:05:24Z | |
| date copyright | 4/9/2019 12:00:00 AM | |
| date issued | 2019 | |
| identifier issn | 0022-0434 | |
| identifier other | ds_141_09_091003.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl1/handle/yetl/4258732 | |
| description abstract | 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 the “explosion of terms.” A novel method is also proposed to implement the control without the knowledge of the control coefficient, which makes the whole process of backstepping control data-driven. The stability of the proposed control in the Lyapunov sense is studied. It is numerically and experimentally validated, and compared with the well-known model-based linear quadratic regulator (LQR) control. The data-driven backstepping control is found to provide comparable performances to that of the LQR control with the advantage of being model-free and robust. | |
| publisher | American Society of Mechanical Engineers (ASME) | |
| title | Data-Driven Backstepping Control of Underactuated Mechanical Systems | |
| type | Journal Paper | |
| journal volume | 141 | |
| journal issue | 9 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.4043154 | |
| journal fristpage | 91003 | |
| journal lastpage | 091003-7 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2019:;volume( 141 ):;issue: 009 | |
| contenttype | Fulltext | |
