Backstepping control optimized by the multi-parameter ESA

For the case that the traditional parameter adjustment consumes too much time, a method using the multi-parameter extremum seeking algorithm (m-p ESA) to tune the backstepping controller parameters is presented. The m-p ESA can obtain the optimized value of parameters by minimizing the cost function to achieve the desired performance and avoid the interaction of parameters by the multiple channels design. Therefore the utilization of the m-p ESA can simplify the process of parameter adjustment. In addition, the stability is analyzed by Lyapunov theory The simulation results demonstrate the backstepping controller optimized by the m-p ESA is effective.