Adaptive backstepping control of nonlinear systems with unmatched uncertainty

Considers control design using an adaptive backstepping algorithm for a class of nonlinear continuous uncertain processes with disturbances which can be converted to a parametric semi-strict feedback form. Sliding mode control using a combined adaptive backstepping sliding mode control algorithm is...

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Bibliographic Details
Main Authors: Koshkouei, A.J., Zinober, A.S.I.
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Algorithm design and analysis
Backstepping
Control design
Control systems
Feedback
Nonlinear control systems
Nonlinear systems
Programmable control
Sliding mode control
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Description
Summary:Considers control design using an adaptive backstepping algorithm for a class of nonlinear continuous uncertain processes with disturbances which can be converted to a parametric semi-strict feedback form. Sliding mode control using a combined adaptive backstepping sliding mode control algorithm is also studied. The algorithm follows a systematic procedure for the design of adaptive control laws for the output of observable minimum phase nonlinear systems with matched and unmatched uncertainty. An existing sufficient condition for sliding is not needed by the new algorithm.
ISSN:0191-2216
DOI:10.1109/CDC.2001.914681