A simplified adaptive robust backstepping approach using sliding modes and a z-swapping identifier

An adaptive robust backstepping approach using sliding modes and a z-swapping identifier is presented for a class of nonlinear parameter-varying systems. Each of the first nonlinear-1 virtual control inputs is designed using a zero-order sliding mode controller. Then, in the final step, a general sl...

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Bibliographic Details
Main Authors: Gorman, J.J., Jablokow, K.W., Cannon, D.J.
Format: Conference Proceeding
Language:English
Subjects:
Backstepping
Control design
Control systems
Electrical equipment industry
Intelligent manufacturing systems
NIST
Nonlinear systems
Robustness
Sliding mode control
Uncertainty
Online Access:Request full text
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Description
Summary:An adaptive robust backstepping approach using sliding modes and a z-swapping identifier is presented for a class of nonlinear parameter-varying systems. Each of the first nonlinear-1 virtual control inputs is designed using a zero-order sliding mode controller. Then, in the final step, a general sliding mode controller is used to stabilize the entire closed loop system. The parameter update law is designed using a gain adjusted exponential forgetting least-squares algorithm and a objection operator. The benefits of the approach include a reduction in the overcompensation of uncertainty, a simplification of the control law, and the ability to use linear design techniques to determine the system's transient performance.
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2003.1242539