Symbolic dynamical adaptive backstepping control design via MATLAB

Author

Rios-Bolívar, Miguel ; Zinober, Alan S I

Author_Institution

Sch. of Math. & Stat., Sheffield Univ., UK

fYear

1996

fDate

5-6 Dec 1996

Firstpage

216

Lastpage

221

Abstract

The development of a symbolic toolbox which implements a systematic algorithm for designing robust dynamical adaptive backstepping tracking controllers for a class of uncertain nonlinear systems is considered. The algorithm is based on a combination of adaptive input-output linearization without transformation to canonical forms, and sliding mode control which exploits the recursive mechanism of adaptive backstepping with tuning functions. The MATLAB Symbolic Toolbox has been used for the implementation of this tool

Keywords

adaptive control; control system CAD; linearisation techniques; robust control; symbol manipulation; variable structure systems; I/O linearization; MATLAB Symbolic Toolbox; adaptive input-output linearization; canonical forms; recursive mechanism; robust dynamical adaptive backstepping tracking controllers; sliding mode control; symbolic dynamical adaptive backstepping control design; tuning functions; uncertain nonlinear systems; Adaptive control; Algorithm design and analysis; Backstepping; Control design; Control systems; MATLAB; Nonlinear control systems; Programmable control; Robust control; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Variable Structure Systems, 1996. VSS '96. Proceedings., 1996 IEEE International Workshop on

Conference_Location

Tokyo

Print_ISBN

0-7803-3718-2

Type

conf

DOI

10.1109/VSS.1996.578622

Filename

578622