Semi-global adaptive backstepping control for parametric strict-feedback systems with non-triangular structural uncertainties?

被引：37

作者：

Cai, Jianping ^{[1
,4
]}

Mei, Congli ^{[2
]}

Yan, Qiuzhen ^{[3
]}

机构：

[1] Zhejiang Univ Water Resources & Elect Power, Inst Appl Math, Hangzhou 310018, Peoples R China

[2] Zhejiang Univ Water Resources & Elect Power, Coll Elect Engn, Hangzhou 310018, Peoples R China

[3] Zhejiang Univ Water Resources & Elect Power, Coll Informat Engn, Hangzhou 310018, Peoples R China

[4] Zhejiang Univ Water Resources & Elect Power, Inst Appl Math, Xuelin St 583,Xiasha, Hangzhou 310018, Zhejiang, Peoples R China

来源：

ISA TRANSACTIONS | 2022年 / 126卷

基金：

中国国家自然科学基金;

关键词：

Backstepping; Non-triangularstructuraluncertainties; Adaptivecontrol; Modellingerrors; NONLINEAR-SYSTEMS;

D O I：

10.1016/j.isatra.2021.07.048

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, two semi-global adaptive control schemes are proposed for a class of parametric strict-feedback systems with non-triangular structural uncertainties. Unknown nonlinear functions containing non-triangular structural uncertainties and unknown parameters are allowed to exist in every state equation. Because the linear relation between the state vector and its transformed vector cannot be ensured, the improved backstepping method used to deal with non-triangular structural uncertainties cannot be used directly in controller design. To solve this problem, semi-global stability analysis is introduced in the controller design. As a result, the linear relation mentioned above is no longer needed and thus the stability of the closed-loop system is guaranteed. The effectiveness of the proposed schemes is verified by simulation studies. (c) 2021 ISA. Published by Elsevier Ltd.

引用

页码：180 / 189

页数：10

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