Adaptive dynamic surface control: A simplified algorithm for adaptive backstepping control of nonlinear systems
- 1 January 1998
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 71 (5) , 959-979
- https://doi.org/10.1080/002071798221650
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.Keywords
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