Robust adaptive control for a class of nonlinear systems with complex uncertainties

被引：2

作者：

Seo, Sangbo ^{[1
]}

Back, Juhoon ^{[2
]}

Shim, Hyungbo ^{[1
]}

Seo, Jin H. ^{[1
]}

机构：

[1] ASRI, School of Electrical Engineering and Computer Science, Seoul National Univ.

[2] Dept. of Information and Control Engineering, Kwangwoon Univ.

来源：

Journal of Electrical Engineering and Technology | 2009年 / 4卷 / 02期

关键词：

Adaptive backstepping; Nonlinear parameterization; Robust control; Unknown virtual coefficient;

D O I：

10.5370/JEET.2009.4.2.292

中图分类号：

学科分类号：

摘要：

This paper considers a robust adaptive stabilization problem for a class of uncertain nonlinear systems which include an unknown virtual control coefficient, an unknown constant parameter, and a time-varying disturbance whose bound is unknown. We propose a new estimator for an unknown virtual control coefficient and present a robust adaptive backstepping design procedure which results in a smooth state feedback control law, a new two-dimensional parameter update law, and a C1 Lyapunov function which is positive definite and proper.

引用

页码：292 / 300

页数：8

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