Adaptive backstepping for trajectory tracking of nonlinearly parameterized class of nonlinear systems

Adaptive control is of interest in control systems design not only for its capability to improve performance and reliability but also for handling parameters uncertainties, external disturbances and modeling inaccuracies. This paper addresses a systematic procedure design to develop an adaptive back...

Full description

Saved in:
Bibliographic Details
Main Authors: Bouadi, H., Mora-Camino, F.
Format: Conference Proceeding
Language:English
Subjects:
adaptation law
adaptive backstepping
Adaptive control
Backstepping
Nonlinear systems
positivity principle
Simulation
Systematics
Trajectory
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:Adaptive control is of interest in control systems design not only for its capability to improve performance and reliability but also for handling parameters uncertainties, external disturbances and modeling inaccuracies. This paper addresses a systematic procedure design to develop an adaptive backstepping tracking control approach for a second-order class of single input-single output (SISO) nonlinear systems where the controllability condition is checked. The considered class covers general feedback linearizable and nonlinearly parameterized systems. Both of the control and adaptation laws are synthesized simultaneously based on the positivity and Lyapunov design approaches. Simulation results for an illustrative numerical example are provided to illustrate in this case the effectiveness of the proposed controller.
DOI:10.1109/CINTI.2011.6108501