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.
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September 2019
Research-Article
Data-Driven Backstepping Control of Underactuated Mechanical Systems
Jingwen Huang,
Jingwen Huang
Beijing University of Chemical Technology,
Beijing 100029, China
Beijing 100029, China
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Tingting Zhang,
Tingting Zhang
Beijing University of Chemical Technology,
Beijing 100029, China
Beijing 100029, China
Search for other works by this author on:
Jian-Qiao Sun
Jian-Qiao Sun
Fellow ASME
Department of Mechanical Engineering,
School of Engineering,
University of California, Merced,
Merced, CA 95343
Department of Mechanical Engineering,
School of Engineering,
University of California, Merced,
Merced, CA 95343
1Corresponding author.
Search for other works by this author on:
Jingwen Huang
Beijing University of Chemical Technology,
Beijing 100029, China
Beijing 100029, China
Tingting Zhang
Beijing University of Chemical Technology,
Beijing 100029, China
Beijing 100029, China
Jian-Qiao Sun
Fellow ASME
Department of Mechanical Engineering,
School of Engineering,
University of California, Merced,
Merced, CA 95343
Department of Mechanical Engineering,
School of Engineering,
University of California, Merced,
Merced, CA 95343
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received November 20, 2018; final manuscript received March 7, 2019; published online April 9, 2019. Assoc. Editor: Xuebo Zhang.
J. Dyn. Sys., Meas., Control. Sep 2019, 141(9): 091003 (7 pages)
Published Online: April 9, 2019
Article history
Received:
November 20, 2018
Revised:
March 7, 2019
Citation
Huang, J., Zhang, T., and Sun, J. (April 9, 2019). "Data-Driven Backstepping Control of Underactuated Mechanical Systems." ASME. J. Dyn. Sys., Meas., Control. September 2019; 141(9): 091003. https://doi.org/10.1115/1.4043154
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