Title :
Adaptive Tracking Control for a Class of Nonlinear System with Mismatched Uncertainties
Author :
He, Naibao ; Jiang, Changsheng
Author_Institution :
Coll. of Autom. Eng., Nanjing Univ. of Aeronaut. & Astronaut.
Abstract :
The problem of robust adaptive tracking for a class of mismatched uncertain nonlinear systems is discussed. Under the assumptions of uncertain system model and unknown parameters, combining backstepping design with robust control technology, a robust output feedback control scheme and an adaptive parameter control law is developed for unknown parameters and dynamic uncertainties. It is proved that the derived robust adaptive controller based on Lyapunov stability theory can guarantee global uniformly ultimate boundedness property for all states of the closed system, and lead to tracking error at exponential speed to a small. Compared with the classical adaptive backstepping procedure, it allows the nonparametric uncertainties in the last equations of the systems. The robustness of the closed loop system is enhanced. In order to demonstrate the effectiveness of the developed novel controller, an example is extensively simulated to provide quite satisfactory performance
Keywords :
Lyapunov methods; adaptive control; closed loop systems; nonlinear control systems; robust control; state feedback; uncertain systems; Lyapunov stability theory; adaptive parameter control law; adaptive tracking control; backstepping design; closed loop system; dynamic uncertainties; global uniformly ultimate boundedness property; mismatched uncertain nonlinear systems; nonlinear system; nonparametric uncertainties; robust adaptive controller; robust adaptive tracking; robust output feedback control; uncertain system model; unknown parameters; Adaptive control; Backstepping; Control systems; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; Robustness; Uncertain systems; Uncertainty; backstepping; nonlinear system; parametric uncertainty; rubust control;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1712476