Nonlinear state feedback controller design for underactuated mechanical system: A modified block backstepping approach

摘要

This paper presents the formulation of a novel block-backstepping based control algorithm to address the stabilization problem for a generalized nonlinear underactuated mechanical system. For the convenience of compact design, first, the state model of the underactuated system has been converted into the block-strict feedback form. Next, we have incorporated backstepping control action to derive the expression of the control input for the generic nonlinear underactuated system. The proposed block backstepping technique has further been enriched by incorporating an integral action additionally for enhancing the steady state performance of the overall system. Asymptotic stability of the overall system has been analyzed using Lyapunov stability criteria. Subsequently, the stability of the zero dynamics has also been analyzed to ensure the global asymptotic stability of the entire nonlinear system at its desired equilibrium point. The proposed control algorithm has been applied for the stabilization of a bench-marked underactuated mechanical system to verify the effectiveness of the proposed control law in real-time environment.