A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics

Zhong Ping Jiang; David J. Hill

doi:10.1109/9.788536

A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics

Zhong Ping Jiang, David J. Hill

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper presents a constructive robust adaptive non-linear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics In contrast to [5]-[7], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.

Original language	English (US)
Pages (from-to)	1705-1711
Number of pages	7
Journal	IEEE Transactions on Automatic Control
Volume	44
Issue number	9
DOIs	https://doi.org/10.1109/9.788536
State	Published - 1999

Keywords

Adaptive nonlinear control
Backstepping
Dynamic uncertainty
Lagrange stability

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/9.788536

Cite this

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title = "A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics",

abstract = "This paper presents a constructive robust adaptive non-linear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics In contrast to [5]-[7], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.",

keywords = "Adaptive nonlinear control, Backstepping, Dynamic uncertainty, Lagrange stability",

author = "Jiang, {Zhong Ping} and Hill, {David J.}",

note = "Funding Information: Manuscript received June 16, 1997; revised October 26, 1998. Recommended by Associate Editor, M. Krstic. This work was supported by the ARC Large Grant A49530078. Z.-P. Jiang was with the Department of Electrical Engineering, Sydney University. He is now with the Department of Electrical Engineering, Polytechnic University, Brooklyn, NY 11201 USA. D. J. Hill is with the School of Electrical and Information Engineering, Sydney University, NSW 2006, Australia. Publisher Item Identifier S 0018-9286(99)07141-X.",

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N1 - Funding Information: Manuscript received June 16, 1997; revised October 26, 1998. Recommended by Associate Editor, M. Krstic. This work was supported by the ARC Large Grant A49530078. Z.-P. Jiang was with the Department of Electrical Engineering, Sydney University. He is now with the Department of Electrical Engineering, Polytechnic University, Brooklyn, NY 11201 USA. D. J. Hill is with the School of Electrical and Information Engineering, Sydney University, NSW 2006, Australia. Publisher Item Identifier S 0018-9286(99)07141-X.

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N2 - This paper presents a constructive robust adaptive non-linear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics In contrast to [5]-[7], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.

AB - This paper presents a constructive robust adaptive non-linear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics In contrast to [5]-[7], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.

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A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics

Abstract

Keywords

ASJC Scopus subject areas

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