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A new adaptive backstepping control algorithm for motion control systems — an implicit and symbolic computation approach
Author(s) -
Yu Jente,
Chang Jie
Publication year - 2003
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.729
Subject(s) - backstepping , control theory (sociology) , robustness (evolution) , lyapunov function , adaptive control , computer science , robust control , computation , exponential function , exponential stability , motion control , mathematics , cascade , control system , algorithm , nonlinear system , control (management) , engineering , artificial intelligence , robot , mathematical analysis , biochemistry , chemistry , physics , quantum mechanics , chemical engineering , electrical engineering , gene
A new adaptive integral backstepping control algorithm for motion control systems is proposed. The design approach is non‐conventional in that it only implicitly incorporates error states into a design Lyapunov function and computes time derivative of the Lyapunov function symbolically to the point of getting parameter estimate update laws on which desirable structures are imposed. The closed‐loop error system turns out to be linear and time‐varying and can be reformulated as a linear–non‐linear cascade system. Uniform exponential stability or absolute stability can be achieved. The design is robust against system parameter variations. The effectiveness and robustness of the control algorithm are verified by numerical examples. Copyright © 2002 John Wiley & Sons, Ltd.