Adaptive control for nonlinear systems based on backstepping
Combining the backstepping method with robust control technology, an adaptive parameter control law is developed and thus the output tracking is successfully accomplished for the system with unknown parameters and dynamic uncertainties. It is proved that the derived robust adaptive controller based...
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Published in | 2011 3rd International Conference on Advanced Computer Control pp. 134 - 137 |
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Main Authors | , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.01.2011
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Subjects | |
Online Access | Get full text |
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Summary: | Combining the backstepping method with robust control technology, an adaptive parameter control law is developed and thus the output tracking is successfully accomplished for the system with unknown parameters and dynamic uncertainties. It is proved that the derived robust adaptive controller based on Lyapunov stability theory can guarantee that all states of the closed-loop system are globally uniformly ultimately bounded, and lead the system tracking error to a small neighborhood. Finally simulation results are provided to show the effectiveness of the proposed approach. |
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ISBN: | 1424488095 9781424488094 |
DOI: | 10.1109/ICACC.2011.6016383 |