Paper Info
Title
Adaptive Backstepping Control for a Class of Nonlinear Systems With Non-Triangular Structural Uncertainties.
Abstract
In this technical note, a robust adaptive control scheme is proposed based on backstepping techniques for a class of nonlinear systems with unknown parameters. A modeling error may also exist in every state equation or channel and it is bounded by a known function which is allowed to depend on all system states. It is shown that the proposed adaptive control scheme can ensure all signals in the closed-loop system bounded, if the strength of system modeling errors is sufficiently weak. Transient performance is also established. Thus stabilizing systems in classical strict-feedback forms with sufficiently small non-triangular structural perturbations is successfully addressed. In the case that system parameters are known, a non-adaptive robust controller is designed to globally exponentially stabilize such a class of nonlinear systems. Finally simulation studies are used to verify the effectiveness of the proposed scheme.
Year
DOI
Venue
2017
10.1109/TAC.2016.2628159
IEEE Trans. Automat. Contr.
Keywords
Field
DocType
Uncertainty,Adaptation models,Control systems,Nonlinear systems,Mathematical model,Backstepping,Adaptive control
Control theory,Mathematical optimization,Backstepping,Nonlinear system,Control theory,Communication channel,Systems modeling,Adaptive control,Control system,Mathematics,Bounded function
Journal
Volume
Issue
ISSN
62
10
0018-9286
Citations 
PageRank 
References 
7
0.51
4
Authors
5
Name
Order
Citations
PageRank
Jianping Cai121221.57
Changyun Wen23686284.86
Hongye Su33563187.46
Zhitao Liu440917.11
lantao xing530211.66