A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics
A robust adaptive backstepping scheme for nonlinear systems with unmodeled dynamics
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DOI：
10.1109/9.788536
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发表时间：
1999-12
期刊：
影响因子：
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通讯作者：
Zhong-Ping Jiang;D. Hill
中科院分区：
文献类型：
--
作者：
Zhong-Ping Jiang;D. Hill
本文提出了一种建设性鲁棒的自适应非线性控制方案，可以被视为对现在流行的自适应后台替代算法的鲁棒性。允许的不确定性类别包括非线性出现的参数不确定性，不确定的非线性以及未测量的输入到状态稳定动力学。本文提出的自适应控制定律不需要任何动态主导信号来保证拉格朗日稳定性的稳健性。具有未知参数且没有速度测量值的简单摆的数值示例说明了我们的理论结果。
This paper presents a constructive robust adaptive nonlinear control scheme which can be regarded as a robustification of the now popular adaptive backstepping algorithm. The allowed class of uncertainties includes nonlinearly appearing parametric uncertainty, uncertain nonlinearities, and unmeasured input-to-state stable dynamics. The adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee the robustness property of Lagrange stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results.