Dynamical adaptive backstepping control design via symbolic computation

Author

Rios-Bolivar, M. ; Zinober, A.S.I.

Author_Institution

Appl. Math. Sect., Univ. of Sheffield, Sheffield, UK

fYear

1997

fDate

1-7 July 1997

Firstpage

2768

Lastpage

2773

Abstract

We describe here a symbolic algebra toolbox developed using the MATLAB Symbolic Toolbox, which implements a systematic algorithm for the design of dynamic (static) adaptive (deterministic) backstepping controllers for a class of observable minimum phase uncertain nonlinear systems. The design procedure employs the basic ideas of the adaptive backstepping algorithm with tuning functions via input-output linearization, and is applicable to uncertain nontriangular systems which are not transformable into the parametric strict feedback (PSF) form or parametric pure feedback (PPF) form.

Keywords

adaptive control; algebra; control nonlinearities; control system synthesis; feedback; linearisation techniques; nonlinear control systems; observability; symbol manipulation; uncertain systems; MATLAB symbolic toolbox; PPF form; PSF form; adaptive backstepping algorithm; dynamic static deterministic controllers; dynamical adaptive backstepping control design; input-output linearization; observable minimum phase; parametric pure feedback; parametric strict feedback; symbolic algebra toolbox; symbolic computation; systematic algorithm; tuning functions; uncertain nonlinear systems; uncertain nontriangular systems; Adaptive systems; Algorithm design and analysis; Backstepping; Control design; Heuristic algorithms; Mathematical model; Nonlinear systems; Adaptive control; nonlinear control; symbolic computation; uncertain systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (ECC), 1997 European

Conference_Location

Brussels

Print_ISBN

978-3-9524269-0-6

Type

conf

Filename

7082528