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Design and stability analysis of a variable structure adaptive backstepping controller
Author(s) -
Queiroz Kurios,
Araujo Aldayr,
Dias Samaherni
Publication year - 2012
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.364
Subject(s) - backstepping , control theory (sociology) , robustness (evolution) , relay , parametric statistics , adaptive control , control engineering , controller (irrigation) , computer science , stability (learning theory) , engineering , mathematics , control (management) , artificial intelligence , agronomy , biochemistry , chemistry , power (physics) , physics , statistics , quantum mechanics , machine learning , biology , gene
This paper presents the design and stability analysis of a Variable Structure Adaptive Backstepping Controller (VS‐ABC) for linear plants with relative degree one, using only input/output measurements. Instead of traditional integral adaptive laws for estimating the plant parameters, switching laws are proposed to increase robustness to parametric uncertainties and disturbances, as well as to improve transient response. Moreover, the controller design is more intuitive when compared with the original adaptive backstepping controller, since the relay amplitudes are related to the plant nominal parameters and their respective uncertainties. Simplified algorithm versions are also presented, named Compact and Relay VS‐ABC, which reduce the practical implementation complexity, and encourage applications in industrial environments. Copyright © 2011 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society