STEERING CONTROL FOR A RIGID BODY HAVING TWO TORQUE ACTUATORS USING ADAPTIVE BACKSTEPPING

Fazal-ur-Rehman, Ibrahim Shah, and Adeel A. Saleem

Keywords

Feedback stabilization, nonholonomic systems, adaptive backstepping, Lyapunov function

Abstract

This paper presents a steering control algorithm for a rigid body having two torque actuators which is a famous example of nonholonomic control systems with drift. The control algorithm is based on an adaptive backstepping technique. Two cases have been considered. In the first case, model parameters are assumed to be known, and in the second case, model parameters are estimated by considering them unknown. Lyapunov functions for each case are constructed in a systematic way using adaptive backstepping techniques. Adaptive laws for the estimates of unknown parameters and stability of the closed-loop systems are based on the Lyapunov theory. The computer simulation results show the effectiveness of the proposed control algorithm.

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