Title :
Combining backstepping and time-varying techniques for a new set of adaptive controllers
Author :
Jiang, Z.-P. ; Pomet, J.-B.
Author_Institution :
Dept. of Syst. Eng., Australian Nat. Univ., Canberra, ACT, Australia
Abstract :
Motivated by many results on time-varying control of nonholonomic mechanical systems, the authors consider a class of uncertain nonlinear systems which cannot be stabilized by any continuous (time-invariant) state-feedback control law. A new set of stabilizing time-varying adaptive controllers is presented by using backstepping techniques
Keywords :
adaptive control; control system synthesis; nonlinear control systems; stability; time-varying systems; uncertain systems; backstepping; nonholonomic mechanical systems; stabilizing time-varying adaptive controllers; time-varying techniques; uncertain nonlinear systems; Adaptive control; Backstepping; Control systems; Feedback; Mechanical systems; Nonlinear control systems; Open loop systems; Programmable control; Systems engineering and theory; Time varying systems;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411494
