Title :
Command filtered adaptive backstepping
Author :
Dong, W. ; Farrell, J.A. ; Polycarpou, M.M. ; Sharma, M.
Author_Institution :
Dept. of EE, U. of Texas - Pan American, Edinburg, TX, USA
fDate :
June 30 2010-July 2 2010
Abstract :
As the order of the system increases, implementation of adaptive backstepping controllers becomes increasingly complex due to the necessity to calculate analytically the partial derivatives of certain stabilizing functions with respect to the system state. To remove the burden of computation, in this paper we propose a command filtered adaptive backstepping design method. In the proposed controller design method, analytic calculation of partial derivatives is not required. The control law and the update law become succinct. The stability properties of the controllers is analyzed through a sequence of theorems. Effectiveness of the proposed method is shown by simulation results.
Keywords :
adaptive control; control system synthesis; stability; adaptive backstepping controllers; command filtered adaptive backstepping; partial derivatives; stabilizing functions; Adaptive control; Adaptive filters; Backstepping; Control design; Control systems; Design methodology; Nonlinear control systems; Nonlinear filters; Nonlinear systems; Programmable control;
Conference_Titel :
American Control Conference (ACC), 2010
Conference_Location :
Baltimore, MD
Print_ISBN :
978-1-4244-7426-4
DOI :
10.1109/ACC.2010.5530642