Robust Adaptive Control for a Class of Nonlinear Systems with Complex Uncertainties

Title & Authors
Robust Adaptive Control for a Class of Nonlinear Systems with Complex Uncertainties
Seo, Sang-Bo; Back, Ju-Hoon; Shim, Hyung-Bo; Seo, Jin-H.;

Abstract
This paper considers a robust adaptive stabilization problem for a class of uncertain nonlinear systems which include an unknown virtual control coefficient, an unknown constant parameter, and a time-varying disturbance whose bound is unknown, We propose a new estimator for an un-known virtual control coefficient and present a robust adaptive backstepping design procedure which results in a smooth state feedback control law, a new two-dimensional parameter update law, and a $\small{C^1}$ Lyapunov function which is positive definite and proper.
Keywords
Robust control;Adaptive backstepping;Unknown virtual coefficient;Nonlinear parameterization;
Language
English
Cited by
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