Backstepping Tracking Control for a Class of Uncertain Nonlinear Systems

被引：0

作者：

He, Naibao ^{[1
,2
]}

Jiang, Changsheng ^{[1
]}

Qao, Qian ^{[2
]}

Gong, Chenglong ^{[2
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China

[2] Huaihai Inst Technol, Lianyungang 222005, Peoples R China

来源：

2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11 | 2008年

关键词：

nonlinear system; tracking control; backstepping; adaptive control;

D O I：

10.1109/CCDC.2008.4597874

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a novel direct adaptive tracking control scheme is presented for a class of nonlinear systems with unknown virtual control coefficients. Based on the Lyapunov stability theory, a direct adaptive tracking controller is developed by using the backstepping approach. The proposed design scheme guarantees that the tracking error converges to an arbitrarily small neighborhood of the origin. Comparing with the classical adaptive backstepping procedure, the robustness of the closed-loop system is enhanced. Finally, simulation examples are used to demonstrate the effectiveness of the proposed control scheme.

引用

页码：2994 / +

页数：2

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