Adaptive control of triangular systems with nonlinear parameterization

Zhengtao Ding

doi:10.1109/9.975501

Adaptive control of triangular systems with nonlinear parameterization

Research output: Contribution to journal › Article › peer-review

Abstract

The note deals with adaptive control of uncertain nonlinear triangular systems whose uncertainty is characterized by nonlinear parameterization of unknown constant vectors. Robust adaptive control techniques are incorporated in the backstepping control design with flat zones to tackle the nonlinear parameterization together with a novel smooth projection algorithm for parameter estimation. The proposed algorithm guarantees the global boundedness of all the variables and the convergence of the tracking error to any prespecified small limit.

Original language	English
Pages (from-to)	1963-1968
Number of pages	5
Journal	IEEE Transactions on Automatic Control
Volume	46
Issue number	12
DOIs	https://doi.org/10.1109/9.975501
Publication status	Published - Dec 2001

Keywords

Adaptive control
Backstepping
Nonlinear parameterization
Nonlinear systems

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10.1109/9.975501

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title = "Adaptive control of triangular systems with nonlinear parameterization",

abstract = "The note deals with adaptive control of uncertain nonlinear triangular systems whose uncertainty is characterized by nonlinear parameterization of unknown constant vectors. Robust adaptive control techniques are incorporated in the backstepping control design with flat zones to tackle the nonlinear parameterization together with a novel smooth projection algorithm for parameter estimation. The proposed algorithm guarantees the global boundedness of all the variables and the convergence of the tracking error to any prespecified small limit.",

keywords = "Adaptive control, Backstepping, Nonlinear parameterization, Nonlinear systems",

author = "Zhengtao Ding",

year = "2001",

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AU - Ding, Zhengtao

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N2 - The note deals with adaptive control of uncertain nonlinear triangular systems whose uncertainty is characterized by nonlinear parameterization of unknown constant vectors. Robust adaptive control techniques are incorporated in the backstepping control design with flat zones to tackle the nonlinear parameterization together with a novel smooth projection algorithm for parameter estimation. The proposed algorithm guarantees the global boundedness of all the variables and the convergence of the tracking error to any prespecified small limit.

AB - The note deals with adaptive control of uncertain nonlinear triangular systems whose uncertainty is characterized by nonlinear parameterization of unknown constant vectors. Robust adaptive control techniques are incorporated in the backstepping control design with flat zones to tackle the nonlinear parameterization together with a novel smooth projection algorithm for parameter estimation. The proposed algorithm guarantees the global boundedness of all the variables and the convergence of the tracking error to any prespecified small limit.

KW - Adaptive control

KW - Backstepping

KW - Nonlinear parameterization

KW - Nonlinear systems

U2 - 10.1109/9.975501

DO - 10.1109/9.975501

M3 - Article

SN - 1558-2523

SN - 2334-3303

VL - 46

SP - 1963

EP - 1968

JO - IEEE Transactions on Automatic Control

JF - IEEE Transactions on Automatic Control

IS - 12

ER -

Adaptive control of triangular systems with nonlinear parameterization

Abstract

Keywords

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