Robust Adaptive Control for Nonlinear Systems with Non-parametric Uncertainties  

Oleh:

Mizumoto, I. ; S.L, R.B. Gopaluniy ; Shah, S.L. ; Iwai, Z.

Jenis: Article from Article
Dalam koleksi: Final Program and Book of Abstracts: The 4th Asian Control Conference, September 25-27, 2002 (Sep. 2002), page 501-505.
Topik: Robust Adaptive Control; Nonlinear Systems; Non-parametric; Uncertainties
Fulltext: AC021410.PDF (309.74KB)

Isi artikel

In this paper, we propose a robust adaptive tracking control based on the backstepping strategy for strictfeedback nonlinear systems with non-parametric uncertain nonlinearities. It is shown that one can design a stable adaptive control system provided that the uncertain nonlinearities can be decomposed by unknown bounded nonlinear functions and known nonlinear functions. The proposed method can deal with uncertain nonlinearities that appear at the control input term too. It is also shown that suitable choice of design parameters guarantees the convergence of tracking error to any desired bound.

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