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Adaptive control of partially known systems using backstepping: application to H design of active suspension

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3 Author(s)
Fukao, T. ; Dept. of Syst. Sci., Kyoto Univ., Japan ; Yamawaki, A. ; Adachi, N.

In this paper, an adaptive control technique is provided for the systems whose structure can be divided into a known part and an unknown part. The non-adaptive control design like LQ, H2 and H design can be introduced into the known part of the system, and adaptive control design copes with the unknown part to realize the property by the non-adaptive control design. This is achieved by a backstepping technique. This technique is applied to the control design of active-suspension for a railway vehicle, which is divided into two parts: the main car body part and the actuator part. Some simulation results by the H design for the body part and the adaptive control design for the actuator part are provided

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Decision and Control, 1998. Proceedings of the 37th IEEE Conference on  (Volume:1 )

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