Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method | Zendy

Farouk Zouari | Zendy; Kamel Ben Saad | Zendy; Mohamed Benrejeb | Zendy

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Robust Adaptive Control for a Class of Nonlinear Systems Using the Backstepping Method

Author(s) -

Farouk Zouari,

Kamel Ben Saad,

Mohamed Benrejeb

Publication year - 2013

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/54932

Subject(s) - backstepping , computer science , control theory (sociology) , nonlinear system , bounded function , lyapunov function , adaptive control , class (philosophy) , robust control , robustness (evolution) , strict feedback form , control (management) , mathematics , artificial intelligence , mathematical analysis , biochemistry , chemistry , physics , quantum mechanics , gene

This paper develops a robust adaptive control for a class of nonlinear systems using the backstepping method. The proposed robust adaptive control is a recursive method based on the Lyapunov synthesis approach. It ensures that, for any initial conditions, all the signals of the closed-loop system are regularly bounded and the tracking errors converge to zero. The results are illustrated with simulation examples

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