Paper Info
Title
Numerical Sensitivity Of The Backstepping Adaptive Tuning Functions Control Design
Abstract
The backstepping-based adaptive tuning functions design is a control scheme for uncertain systems that ensures reasonably good stability and performance properties of the closed loop. The complexity of the controller makes inevitable the use of digital computers to perform the calculation of the control signal. This paper addresses the issue of the numerical sensitivity of the adaptive tuning functions via computer algebra systems. It is shown that while the increase of the design parameters may be desirable to achieve a good transient performance, it harms the control signal as this increase introduces large high-frequency components due to the numerical errors. Our results suggest that it is necessary a certain compromise between the choice of the design parameters and the numeric precision of the tools involved in the control design.
Year
DOI
Venue
2005
10.1109/CDC.2005.1582813
2005 44TH IEEE CONFERENCE ON DECISION AND CONTROL & EUROPEAN CONTROL CONFERENCE, VOLS 1-8
Keywords
DocType
ISSN
stability,high frequency,adaptive control,algebra,backstepping,control systems
Conference
0191-2216
Citations 
PageRank 
References 
0
0.34
9
Authors
3
Name
Order
Citations
PageRank
Francesc Pozo1208.13
Fayçal Ikhouane27113.85
José Rodellar310320.73