Name
Abstract | ||
|---|---|---|
The aim of this work is to design a backstepping controller based on an adaptive observer for angle control of an under-actuated system, represented by the inertia wheel pendulum system. The control algorithm is developed for backstepping controller of inertia wheel pendulum system taking into account the velocity estimates by adaptive observer for. The convergence of tracking and estimation errors of observer-based controlled system has been proven by pursuing Lypunove-based stability analysis. The effectiveness of controller and observer for the underactuated system has been verified using computers simulation within MATLAB environment. The results showed that that the presented design could successfully enable the controller to give good performance in stabilization and good robustness characteristics in observation. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1109/CoDIT49905.2020.9263929 | 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT) |
Keywords | DocType | Volume |
Under-actuated system,Inertia wheel pendulum,reduced order adaptive observer,backstepping control | Conference | 1 |
ISSN | ISBN | Citations |
2576-3547 | 978-1-7281-5954-6 | 0 |
PageRank | References | Authors |
0.34 | 4 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Amjad J. Humaidi | 1 | 0 | 0.34 |
| Eman N. Tala'at | 2 | 0 | 0.34 |
| Ayad Q. Al-Dujaili | 3 | 0 | 0.34 |
| Daniel A. Pereira | 4 | 0 | 0.34 |
| Ibraheem Kasim Ibraheem | 5 | 0 | 0.34 |