Nonsmooth Backstepping Design for Motion Control of a Class of Euler-Lagrange Systems

被引：0
|
作者：
Zheng Kai [1 ]
Zhang Guojiang [2 ]
Du Jialu [1 ]
Yang Ming [1 ]
机构：
[1] Dalian Maritime Univ, Informat Sci & Technol Coll, Dalian 116026, Peoples R China
[2] Harbin Inst Technol, Control & Simulat Ctr, Harbin 150001, Peoples R China
来源：
PROCEEDINGS OF THE 29TH CHINESE CONTROL CONFERENCE | 2010年
关键词：
Motion Control; Nonsmooth Backstepping; Euler-Lagrange Systems; DYNAMIC SURFACE CONTROL; NONLINEAR-SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A nonsmooth backstepping design method is proposed to solve motion control problem of a class of Eular-Lagrange systems. Compared with the typical backstepping design method, the virtual control selected in nonsmooth backstepping procedure is designed to be nonsmooth but Lipschitz continuous such that the flexible feedback gain can be abtained according to the error regions. It results that the performance of the motion control can be also regulated according to the regions of the system variables. Simulation results on a 2DOF manipulator system show that the performance of the closed-loop system under the nonsmooth backstepping design is also improved.
引用
收藏
页码：570 / 574
页数：5
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