Title :
A simplified adaptive control scheme based on a combined backstepping/second order sliding mode algorithm
Author :
Bartolini, G. ; Ferrara, A. ; Giacomini, L.
Author_Institution :
Dept. of Electr. & Electron. Eng., Cagliari Univ., Italy
Abstract :
This paper presents a new combined adaptive/variable structure control approach for a class of nonlinear uncertain systems. In contrast to the classical backstepping procedure, it allows the presence of nonparametric uncertainties in the last two equations of the system. The advantages of the combined approach are mainly due to the enhancement of robustness and the reduction of the computational load. The stability and convergence features of the original adaptive scheme are retained
Keywords :
adaptive control; convergence; nonlinear systems; stability; uncertain systems; variable structure systems; adaptive control; backstepping; convergence; nonlinear systems; second order sliding mode; stability; uncertain systems; variable structure control; Adaptive control; Backstepping; Control systems; Nonlinear control systems; Nonlinear equations; Programmable control; Robustness; Stability; Uncertain systems; Uncertainty;
Conference_Titel :
American Control Conference, 1997. Proceedings of the 1997
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3832-4
DOI :
10.1109/ACC.1997.610874
