Adaptive control of uncertain nonlinear systems using mixed backstepping and Lyapunov redesign techniques
- 作者：Ghazal Montaseri montaseri@ut.ac.ir ; Mohammad Javad Yazdanpanah ; yazdan@ut.ac.ir
- 关键词：Backstepping technique ; Lyapunov redesign method ; Matched and unmatched uncertainties ; Strict-feedback form systems ; Unknown parameters
- 刊名：Communications in Nonlinear Science and Numerical Simulation
- 出版年：2012
- 期刊代码：89_10075704
- 类别：ph
- 出版时间：August, 2012
- 卷：17
- 期：8
- 页码：3367-3380
- 文件大小：541 K
摘要
In this paper, a robust adaptive control law for a class of uncertain nonlinear systems is proposed. The proposed controller guarantees asymptotic output tracking of systems in the strict-feedback form with unknown static parameters, and matched and unmatched dynamic uncertainties. This controller takes advantages of a robust stability property of the Lyapunov redesign method and a systematic design procedure of the backstepping technique. In fact, the backstepping technique is employed to enrich the Lyapunov redesign method to compensate for not only matched - but also unmatched-uncertainties. On the other hand, using the Lyapunov redesign method in each step of the conventional backstepping technique makes backstepping robust. The suggested controller is designed through repeatedly utilizing the Lyapunov redesign method in each step of the backstepping technique. Simulation results reveal the efficiency of the Lyapunov redesign-based backstepping controller.