Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation

Fatih Adiguzel; Yaprak Yalcin

doi:10.1109/CEIT.2018.8751777

Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation

Fatih Adiguzel, Yaprak Yalcin

Department of Control and Automation Engineering

Istanbul University - Cerrahpaşa

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In this study, a discrete-time backstepping control is proposed for n-dof nonlinear mechanical systems via discrete-time partial feedback linearization and a novel discrete-time coordinate transformation. Firstly, the discrete-time model of the considered class of system is obtained using Forward Euler approximation. Then, a partial feedback controller is established in the discrete-time setting. Afterwards, a novel coordinate transformation that enables the discrete-time backstepping controller construction is proposed for the considered partially linearized systems. After applying the coordinate transformation, the discrete-time backstepping controller design is performed. The Lyapunov stability of the closed-loop system is shown. The proposed method is tested on the cart-pendulum system by simulations.

Original language	English
Title of host publication	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018
Editors	Seref Naci Engin, Dogan Onur Arisoy, Muhammed Ali Oz
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9781538676417
DOIs	https://doi.org/10.1109/CEIT.2018.8751777
Publication status	Published - Oct 2018
Event	6th International Conference on Control Engineering and Information Technology, CEIT 2018 - Istanbul, Turkey Duration: 25 Oct 2018 → 27 Oct 2018

Publication series

Name	2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Conference

Conference	6th International Conference on Control Engineering and Information Technology, CEIT 2018
Country/Territory	Turkey
City	Istanbul
Period	25/10/18 → 27/10/18

Bibliographical note

Publisher Copyright:
© 2018 IEEE.

Keywords

Backstepping
Discrete-time Control
Nonlinear Control
Underactuated Systems

Access to Document

10.1109/CEIT.2018.8751777

Cite this

Adiguzel, F., & Yalcin, Y. (2018). Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation. In S. N. Engin, D. O. Arisoy, & M. A. Oz (Eds.), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018 Article 8751777 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CEIT.2018.8751777

Adiguzel, Fatih ; Yalcin, Yaprak. / Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation. 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. editor / Seref Naci Engin ; Dogan Onur Arisoy ; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

@inproceedings{0b9b2909e90d44f58d8c8112e0a45800,

title = "Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation",

abstract = "In this study, a discrete-time backstepping control is proposed for n-dof nonlinear mechanical systems via discrete-time partial feedback linearization and a novel discrete-time coordinate transformation. Firstly, the discrete-time model of the considered class of system is obtained using Forward Euler approximation. Then, a partial feedback controller is established in the discrete-time setting. Afterwards, a novel coordinate transformation that enables the discrete-time backstepping controller construction is proposed for the considered partially linearized systems. After applying the coordinate transformation, the discrete-time backstepping controller design is performed. The Lyapunov stability of the closed-loop system is shown. The proposed method is tested on the cart-pendulum system by simulations.",

keywords = "Backstepping, Discrete-time Control, Nonlinear Control, Underactuated Systems",

author = "Fatih Adiguzel and Yaprak Yalcin",

note = "Publisher Copyright: {\textcopyright} 2018 IEEE.; 6th International Conference on Control Engineering and Information Technology, CEIT 2018 ; Conference date: 25-10-2018 Through 27-10-2018",

year = "2018",

month = oct,

doi = "10.1109/CEIT.2018.8751777",

language = "English",

series = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

editor = "Engin, {Seref Naci} and Arisoy, {Dogan Onur} and Oz, {Muhammed Ali}",

booktitle = "2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018",

address = "United States",

}

Adiguzel, F & Yalcin, Y 2018, Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation. in SN Engin, DO Arisoy & MA Oz (eds), 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018., 8751777, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Institute of Electrical and Electronics Engineers Inc., 6th International Conference on Control Engineering and Information Technology, CEIT 2018, Istanbul, Turkey, 25/10/18. https://doi.org/10.1109/CEIT.2018.8751777

Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation. / Adiguzel, Fatih; Yalcin, Yaprak.
2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. ed. / Seref Naci Engin; Dogan Onur Arisoy; Muhammed Ali Oz. Institute of Electrical and Electronics Engineers Inc., 2018. 8751777 (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation

AU - Adiguzel, Fatih

AU - Yalcin, Yaprak

PY - 2018/10

Y1 - 2018/10

N2 - In this study, a discrete-time backstepping control is proposed for n-dof nonlinear mechanical systems via discrete-time partial feedback linearization and a novel discrete-time coordinate transformation. Firstly, the discrete-time model of the considered class of system is obtained using Forward Euler approximation. Then, a partial feedback controller is established in the discrete-time setting. Afterwards, a novel coordinate transformation that enables the discrete-time backstepping controller construction is proposed for the considered partially linearized systems. After applying the coordinate transformation, the discrete-time backstepping controller design is performed. The Lyapunov stability of the closed-loop system is shown. The proposed method is tested on the cart-pendulum system by simulations.

AB - In this study, a discrete-time backstepping control is proposed for n-dof nonlinear mechanical systems via discrete-time partial feedback linearization and a novel discrete-time coordinate transformation. Firstly, the discrete-time model of the considered class of system is obtained using Forward Euler approximation. Then, a partial feedback controller is established in the discrete-time setting. Afterwards, a novel coordinate transformation that enables the discrete-time backstepping controller construction is proposed for the considered partially linearized systems. After applying the coordinate transformation, the discrete-time backstepping controller design is performed. The Lyapunov stability of the closed-loop system is shown. The proposed method is tested on the cart-pendulum system by simulations.

KW - Backstepping

KW - Discrete-time Control

KW - Nonlinear Control

KW - Underactuated Systems

UR - http://www.scopus.com/inward/record.url?scp=85069145852&partnerID=8YFLogxK

U2 - 10.1109/CEIT.2018.8751777

DO - 10.1109/CEIT.2018.8751777

M3 - Conference contribution

AN - SCOPUS:85069145852

T3 - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

BT - 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018

A2 - Engin, Seref Naci

A2 - Arisoy, Dogan Onur

A2 - Oz, Muhammed Ali

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 6th International Conference on Control Engineering and Information Technology, CEIT 2018

Y2 - 25 October 2018 through 27 October 2018

ER -

Adiguzel F, Yalcin Y. Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation. In Engin SN, Arisoy DO, Oz MA, editors, 2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018. Institute of Electrical and Electronics Engineers Inc. 2018. 8751777. (2018 6th International Conference on Control Engineering and Information Technology, CEIT 2018). doi: 10.1109/CEIT.2018.8751777

Discrete-time backstepping control for underactuated mechanical system with a novel coordinate transformation

Abstract

Publication series

Conference

Bibliographical note

Keywords

Access to Document

Other files and links

Fingerprint

Cite this