Robust adaptive nonlinear regulation with dynamic uncertainties

Author

Jiang, Zhong-Ping ; Hill, David J.

Author_Institution

Dept. of Electr. Eng., Sydney Univ., NSW, Australia

Volume

3

fYear

1997

fDate

10-12 Dec 1997

Firstpage

3016

Abstract

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. In contrast to approach given by Jiang-Praly (1992, 1996), the adaptive control laws proposed in this paper do not require any dynamic dominating signal to guarantee Lagrangean stability. The numerical example of a simple pendulum with unknown parameters and without velocity measurement illustrates our theoretical results

Keywords

Lyapunov methods; adaptive control; control nonlinearities; control system synthesis; feedback; nonlinear systems; pendulums; robust control; uncertain systems; Lagrangean stability; Lyapunov function; adaptive control; dynamics; feedback; nonlinear systems; parametric uncertainty; pendulum; robust control; uncertain nonlinearities; Adaptive control; Backstepping; Control systems; Lagrangian functions; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; Robustness; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.657911

Filename

657911