NDLI: Wavelet Based Adaptive Tracking Control for Uncertain Nonlinear Systems with Input Constraints

Content Provider	IEEE Xplore Digital Library
Author	Sharma, M. Kulkarni, A. Puntambekar, S.
Copyright Year	2009
Abstract	This paper proposes a wavelet based adaptive tracking controller for uncertain nonlinear systems. The controller is designed to provide the desired performance in the presence of actuator constraints. Proposed controller comprises of wavelet based tracking controller and a robust controller. Wavelet tracking controller is the principal controller while robust controller is designed to achieve the desired performance by attenuating the effect of approximation error caused by wavelet identifier. Wavelet networks, which are having superior learning capability in comparison to conventional neural network, are used for the approximation of unknown system dynamics. Also the adaptation laws are derived in the sense of Lyapunov function assuring the stability of the system. To deal with the actuator constraints, the system is augmented with additional wavelet network to work as a saturation compensator so as to recover the unconstrained response rapidly while preserving the system stability
Starting Page	694
Ending Page	698
File Size	341949
Page Count	5
File Format	PDF
ISBN	9781424451043
DOI	10.1109/ARTCom.2009.53
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-27
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Stability Wavelet network Nonlinear control systems Control systems Adaptive control Robust control Programmable control Neural networks Approximation error Tracking control Nonlinear systems Actuator constraint
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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