Abstract
This paper presents a global adaptive nonlinear state-feedback controller with robustness in the face of nonlinear unmodeled dynamics. A novel systematic design scheme is proposed to construct desired robust adaptive controllers in which recent small gain arguments are successfully put together with the well-known backstepping procedure. Our design method can be directly extended to the tracking problem and to handle systems with unknown virtual control coefficients.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 2855-2860 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| State | Published - 1998 |
| Event | Proceedings of the 1998 37th IEEE Conference on Decision and Control (CDC) - Tampa, FL, USA Duration: Dec 16 1998 → Dec 18 1998 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization