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A simplified adaptive robust backstepping approach using sliding modes and a z-swapping identifier

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3 Author(s)
Gorman, J.J. ; Intelligent Syst. Div., Nat. Inst. of Stand. & Technol., Gaithersburg, MD, USA ; Jablokow, K.W. ; Cannon, D.J.

An adaptive robust backstepping approach using sliding modes and a z-swapping identifier is presented for a class of nonlinear parameter-varying systems. Each of the first nonlinear-1 virtual control inputs is designed using a zero-order sliding mode controller. Then, in the final step, a general sliding mode controller is used to stabilize the entire closed loop system. The parameter update law is designed using a gain adjusted exponential forgetting least-squares algorithm and a objection operator. The benefits of the approach include a reduction in the overcompensation of uncertainty, a simplification of the control law, and the ability to use linear design techniques to determine the system's transient performance.

Published in:

American Control Conference, 2003. Proceedings of the 2003  (Volume:6 )

Date of Conference:

4-6 June 2003