Title :
Adaptive backstepping control of nonlinear systems with unmatched uncertainty
Author :
Koshkouei, Ali J. ; Zinober, Alan S I
Author_Institution :
Dept. of Appl. Math., Sheffield Univ., UK
Abstract :
Considers control design using an adaptive backstepping algorithm for a class of nonlinear continuous uncertain processes with disturbances which can be converted to a parametric semi-strict feedback form. Sliding mode control using a combined adaptive backstepping sliding mode control algorithm is also studied. The algorithm follows a systematic procedure for the design of adaptive control laws for the output of observable minimum phase nonlinear systems with matched and unmatched uncertainty. An existing sufficient condition for sliding is not needed by the new algorithm
Keywords :
adaptive control; continuous time systems; control system synthesis; feedback; nonlinear control systems; uncertain systems; variable structure systems; adaptive backstepping control; control design; matched uncertainty; nonlinear continuous uncertain processes; nonlinear systems; observable minimum phase nonlinear systems; parametric semi-strict feedback form; sliding mode control; systematic procedure; unmatched uncertainty; Adaptive control; Algorithm design and analysis; Backstepping; Control design; Control systems; Feedback; Nonlinear control systems; Nonlinear systems; Programmable control; Sliding mode control;
Conference_Titel :
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location :
Sydney, NSW
Print_ISBN :
0-7803-6638-7
DOI :
10.1109/CDC.2001.914681
