Adaptive control of uncertain non-affine pure feedback nonlinear systems using backstepping techniques

摘要：

　　In this paper,a robust adaptive control law for a class of uncertain non-affine nonlinear systems is proposed.The proposed controller guarantees asymptotic output tracking of systems in the pure feedback form with unknown static parameters and non- affine controller.This controller takes advantages of a robust stability property of the Lyapunov redesign method and a systematic design procedure of the backstepping technique.Using the Lyapunov redesign method in each step of the conventional backstepping technique makes backstepping robust.The suggested controller is designed through repeatedly utilizing the Lyapunov redesign method in each step of the backstepping technique and derivative of the controller.Simulation results reveal the efficiency of the Lyapunov redesign-based backstepping controller.

关键词： Backstepping technique adaptive control pure feedback non-affine nonlinear system

作者: LI Yang ZHANG Jianhua WU Xueli

作者单位: Hebei University of Science and Technology,Shijiazhuang,050054,China Hebei University of Science and Technology,Shijiazhuang,050054,China;Yanshan University,Qinhuangdao,

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 1829-1833

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）