Abstract
This paper presents a constructive robust adaptive nonlinear 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 non-linearities and unmeasured input-to-state stable dynamics. In contrast to [4, 5, 6], the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee 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) | 3016-3021 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 3 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 36th IEEE Conference on Decision and Control. Part 1 (of 5) - San Diego, CA, USA Duration: Dec 10 1997 → Dec 12 1997 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization