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Adaptive dynamic surface control: A simplified algorithm for adaptive backstepping control of nonlinear systems

Adaptive dynamic surface control: A simplified algorithm for adaptive backstepping control of... In this paper, we propose a new algorithm for adaptive backstepping control of non-linear uncertain systems. Current backstepping algorithms require repeated differentiations of the modelled non-linearities. The addition of n first order low pass filters allows the algorithms to be implemented without differentiating any model non-linearities. The uncertainties are assumed to be linear in the unknown constant parameters. The combined adaptive backstepping/first order filter system is proven to be semi-globally stable for sufficiently fast filters by a singular perturbation approach. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png International Journal of Control Taylor & Francis

Adaptive dynamic surface control: A simplified algorithm for adaptive backstepping control of nonlinear systems

21 pages

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Publisher
Taylor & Francis
Copyright
Copyright Taylor & Francis Group, LLC
ISSN
1366-5820
eISSN
0020-7179
DOI
10.1080/002071798221650
Publisher site
See Article on Publisher Site

Abstract

In this paper, we propose a new algorithm for adaptive backstepping control of non-linear uncertain systems. Current backstepping algorithms require repeated differentiations of the modelled non-linearities. The addition of n first order low pass filters allows the algorithms to be implemented without differentiating any model non-linearities. The uncertainties are assumed to be linear in the unknown constant parameters. The combined adaptive backstepping/first order filter system is proven to be semi-globally stable for sufficiently fast filters by a singular perturbation approach.

Journal

International Journal of ControlTaylor & Francis

Published: Jan 1, 1998

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