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ROBUST ADAPTIVE CONTROL FOR STRICT‐FEEDBACK NONLINEAR SYSTEMS
Author(s) -
Mizumoto Ikuro,
Gopaluni Ratna Bhushan,
Shah Sirish L.,
Iwai Zenta
Publication year - 2005
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 - 10.1111/j.1934-6093.2005.tb00233.x
Subject(s) - backstepping , control theory (sociology) , nonlinear system , tracking error , bounded function , adaptive control , convergence (economics) , robust control , computer science , strict feedback form , control (management) , mathematics , mathematical optimization , artificial intelligence , mathematical analysis , physics , quantum mechanics , economics , economic growth
In this paper, we propose a robust adaptive tracking control based on the backstepping strategy for strict‐feedback nonlinear systems with nonparametric 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.