Adaptive tracking control of robotic manipulators with unknown input saturation using backstepping sliding mode technique

2016 ◽  
Author(s):  
Qiang Chen ◽  
Linlin Shi ◽  
Liang Tao ◽  
Fang Dong
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Input Saturation ◽  
Robotic Manipulators ◽  
Unknown Input ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking ◽  
Mode Technique ◽  
Sliding Mode Technique

scholarly journals Adaptive Control Design for Arneodo Chaotic System with Uncertain Parameters and Input Saturation

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Chunhua Cheng ◽  
Fengjuan Gao ◽  
Jingshuo Xu ◽  
Yuanxin Wang ◽  
Tao Yuan
Keyword(s):  
Chaotic System ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Tracking Control ◽  
Input Saturation ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Uncertain Parameters ◽  
Adaptive Tracking Control ◽  
Adaptive Tracking

In this paper, tracking controller and synchronization controller of the Arneodo chaotic system with uncertain parameters and input saturation are considered. An adaptive tracking control law and an adaptive synchronization control law are proposed based on backstepping and Lyapunov stability theory. The adaptive laws of the unknown parameters are derived by using the Lyapunov stability theory. To handle the effect caused by the input saturation, an auxiliary system is used to compensate the tracking error and synchronization error. The proposed adaptive tracking control and synchronization schemes ensure the effects of tracking and synchronization. Several examples have been detailed to illuminate the design procedure.

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