A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics

被引:234
作者
Jiang, ZP [1 ]
Hill, DJ [1 ]
机构
[1] Univ Sydney, Sch Elect & Informat Engn, Sydney, NSW 2006, Australia
基金
澳大利亚研究理事会;
关键词
adaptive nonlinear control; backstepping; dynamic uncertainty; Lagrange stability;
D O I
10.1109/9.788536
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a constructive robust adaptive non linear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics, In contrast to [5]-[7], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.
引用
收藏
页码:1705 / 1711
页数:7
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