Adaptive Hierarchical Control for a Class of Uncertain Underactuated Systems with Actuator Saturation

Abstract

In this paper, a wavelet based adaptive hierarchical
control scheme is investigated for a class of uncertain underactuated
systems under the effect of actuator saturation. A two level
hierarchical scheme is utilized to derive the classical control term
whereas the system uncertainties are estimated by using wavelet
networks. An auxiliary control dynamics is developed and
incorporated in the control term to deal with actuator saturation in
antiwind up paradigm and to ensure the rapid recovery of
unconstrained response. Uniform ultimate boundedness of the
closed loop system is proved in Lyapunov sense. Simulation results
illustrate the effectiveness of proposed approach.